基于多传感器融合的智能车在野外环境中的障碍物检测研究

胡劲文; 郑博尹; 王策; 赵春晖; 侯晓磊; 潘泉; 徐钊

doi:10.1631/FITEE.1900518

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基于多传感器融合的智能车在野外环境中的障碍物检测研究

智能无人系统专辑 | Updated：2022-05-19

- 基于多传感器融合的智能车在野外环境中的障碍物检测研究
- A survey on multi-sensor fusion based obstacle detection for intelligent ground vehicles in off-road environments
- 信息与电子工程前沿（英文） 2020年21卷第5期页码：675-692
- Affiliations：
  
  Key Laboratory of Information Fusion Technology, Northwestern Polytechnical University, Xi'an 710072, China
- Author bio：
  
  [ "Jin-wen HU, E-mail: hujinwen@nwpu.edu.cn" ]
  Bo-yin ZHENG, E-mail: zhengboyin@mail.nwpu.edu.cn
- Funds：
  
  Project supported by the National Natural Science Foundation of China (Nos. 61603303, 61803309, and 61703343), the Natural Science Foundation of Shaanxi Province, China (No. 2018JQ6070), the China Postdoctoral Science Foundation (No. 2018M633574), and the Fundamental Research Funds for the Central Universities, China (Nos. 3102019ZDHKY02 and 3102018JCC003)
- DOI：10.1631/FITEE.1900518
  中图分类号： TP242.6
- 收稿：2019-09-24，
  
  修回：2020-;4-;1，
  
  纸质出版：2020-05
- Accepted：
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胡劲文, 郑博尹, 王策, 等. 基于多传感器融合的智能车在野外环境中的障碍物检测研究[J]. 信息与电子工程前沿（英文）, 2020,21(5):675-692.

Jin-wen HU, Bo-yin ZHENG, Ce WANG, et al. A survey on multi-sensor fusion based obstacle detection for intelligent ground vehicles in off-road environments[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(5): 675-692.
胡劲文, 郑博尹, 王策, 等. 基于多传感器融合的智能车在野外环境中的障碍物检测研究[J]. 信息与电子工程前沿（英文）, 2020,21(5):675-692. DOI： 10.1631/FITEE.1900518.

Jin-wen HU, Bo-yin ZHENG, Ce WANG, et al. A survey on multi-sensor fusion based obstacle detection for intelligent ground vehicles in off-road environments[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(5): 675-692. DOI： 10.1631/FITEE.1900518.

摘要

随着传感器融合技术发展，人们对智能地面车辆进行大量研究，其中障碍物检测是一个关键技术。障碍物检测是一项复杂任务，涉及多种障碍物、传感器特性和环境条件。虽然道路驾驶员辅助系统或自动驾驶系统已得到充分研究，但是为城市场景结构化道路开发的方法应用于野外环境时，可能因不确定性和多样性而失效。单一类型传感器由于感受范围、信号特征和检测环境的限制，难以满足障碍物检测需求，这促使研究人员和工程师开发多传感器融合方法和系统集成。该综述旨在总结野外环境中智能地面车辆的车载多传感器配置的主要考虑事项，为用户提供根据性能要求和应用环境选择传感器的指南。本文回顾了最新多传感器融合方法和系统原型，将其与对应的异构传感器配置相关联，讨论了新兴技术和面临的挑战。

Abstract

With the development of sensor fusion technologies

there has been a lot of research on intelligent ground vehicles

where obstacle detection is one of the key aspects of vehicle driving. Obstacle detection is a complicated task

which involves the diversity of obstacles

sensor characteristics

and environmental conditions. While the on-road driver assistance system or autonomous driving system has been well researched

the methods developed for the structured road of city scenes may fail in an off-road environment because of its uncertainty and diversity. A single type of sensor finds it hard to satisfy the needs of obstacle detection because of the sensing limitations in range

signal features

and working conditions of detection

and this motivates researchers and engineers to develop multi-sensor fusion and system integration methodology. This survey aims at summarizing the main considerations for the onboard multi-sensor configuration of intelligent ground vehicles in the off-road environments and providing users with a guideline for selecting sensors based on their performance requirements and application environments. State-of-the-art multi-sensor fusion methods and system prototypes are reviewed and associated to the corresponding heterogeneous sensor configurations. Finally

emerging technologies and challenges are discussed for future study.

关键词

Keywords

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