Corner Detection for Intelligent Vehicles Based on a Four-Layer Radar
Intelligent vehicle is thought to be an ideal way to deal with transportation problems.Comer detection is an important yet tough problem for intelligent vehicle because more complicated pictures may be generated by visions or radars from comers than from straight roads.Four-Layer radar was selected for this task for its ability in detecting roads in more abominable natural conditions than machine vision.Radar mapping feature was firstly analyzed,and road comer trait was described based on the radar map.Road edge points as well as smoothness of road surface were the two selected characteristics to find out the road scope,and road width varying extent was the primary benchmark for comers judging.Radar data from all the four layers were combined to overcome problems possibly occur with a fast vehicle or a narrow comer.Experimental results verified a high accuracy rate of the promoted method in comer recognizing.
intelligent vehicle corner detection road edge
Hongquan Liu Mingyue Feng Mingxi Li Zhichao Zhang
Military Transportation University,TianJin,China
国际会议
沈阳
英文
1706-1710
2012-09-26（万方平台首次上网日期，不代表论文的发表时间）