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基于多傳感器信息融合的智能車(chē)輛局部環(huán)境識(shí)
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Environment Recognition Based on the Data Fusion of LMS and Vision
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    摘要:

    為了對(duì)自主車(chē)輛在實(shí)時(shí)行駛中的駕駛避障給予指示并進(jìn)行路徑規(guī)劃,，提出并驗(yàn)證了一種基于激光雷達(dá)深度信息以及圖像紋理信息的局部環(huán)境判別算法,；根據(jù)車(chē)輛的通過(guò)性指標(biāo)對(duì)車(chē)輛進(jìn)行動(dòng)力性建模,，通過(guò)改進(jìn)的Dempster-Shafer判據(jù)對(duì)識(shí)別結(jié)果進(jìn)行融合,；并且輸出固定監(jiān)視區(qū)域內(nèi)的通過(guò)性指數(shù)矩陣以指引自主車(chē)輛實(shí)時(shí)修正導(dǎo)向,。

    Abstract:

    In order to guide the UGV detection, a new method of local environment recognition based on the data fusion of LMS and vision were given and tested. Firstly the structure of LMS system and vision system has been modeled separately, and then the algorithm was showed to describe the data processing procedure. The grid method has been used to classify obstacle points and evaluate their cost. Considering the motor vehicle trafficability, an upgraded Dempster-Shafer criterion was used to revise the decision-making of driving. The trafficability was evaluated by reliability matrix. At last, the experiment has been done to validate the whole system. 

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張博,陳慧巖.基于多傳感器信息融合的智能車(chē)輛局部環(huán)境識(shí)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2009,40(2):159-163. Environment Recognition Based on the Data Fusion of LMS and Vision[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(2):159-163.

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