Detection Of Road Boundary Unmanned Vehicles

In recent years, the development of vehicle technology makes the self-driving technology become a hot spot of research at home and abroad. Unmanned vehicle road boundary detection is one of the important researches directions of unmanned technology. The road boundary detection is to identify obstacles, judge the road boundary and extract the feasible region when the unmanned vehicles run on the road. The purpose is to ensure unmanned vehicles run in a safe environment.Firstily, In this paper, according to the requirement of the unmanned intelligent car system, a hardware platform for the unmanned vehicle has been set up and the required of all kinds of sensors has been installed.Then the data on the installation of the laser radar sensors and communication protocol of GPS/INS inertial navigation have been compared and the detailed introduction has been given. Finally, the industrial computer and the installation of unmanned vehicle communication between each sensor has been realized and test data of laser radar, GPS/INS inertial navigation have been collected.Secondly, in combination with the specific situation of the real road environment, the existing 3D laser ranging system using occasions, such as characteristics, based on the analysis of the 3D laser ranging system has adopted in this paper. By a laser radar with the motion of the unmanned vehicle to scan, global and the local coordinate system and no car coordinate system are established. In this paper, we put forward an unmanned vehicle driving road edge detection method based on laser radar by determining the radar data search principle and through the neighbor domain algorithm for detecting lidar data clustering; After double threshold combining median average filtering algorithm for laser radar acquisition of road boundary information processing, through the least squares fitting out the road boundary, the road lane line information is estimated and the motion of safty of the unmanned vehicle is provided finally.Finally through the Visual Basic software platform and combined with the operation of the unmanned vehicle, the corresponding tests of road boundary detection algorithm are proceeded. The experimental results show that the laser radar can cluste road boundary data effectivly, realize the unmanned vehicle road boundary and accurate detection of obstacles of side.