知識庫

A lane detection method based on 3D-LiDAR (基於光達的車道偵測方法技術報告)
  • 發布年度:2018
  • 主要類別:駕駛輔助
  • 次要類別:論文
  • Abstract

    Lane detection is crucial information for driving autonomy. To build a safe and robust lane detection system, 3D LiDAR based lane detection, capa-ble of detecting all direction and working in all lighting condition, is an ideal sensor redundancy in addition to camera-based lane detection. The LiDAR can detect the intensity of road surface points, so the lane mark will appear as high-intensity point segment in each scan layer. The regrouping of clusters into lanes is a challenging task due to the discontinuity of road lane, the variety of road di-rection and configuration, and the presence of other road marks beside lane marks. A method has been proposed to incorporate road edge detection to pre-dict local road geometry model which assists mark-segment regrouping into lane and unrelated mark filtering. Experiments show the method is efficient, and can run in a real-time environment.


    Keywords: Lane detection, 3D-LiDAR, Intensity, Road geometry