激光测距雷达距离图障碍物实时检测算法研究及误差分析

本文在首先阐述陆自 主车中利用激光测距成像雷达获得取的距离图实时检测障碍的坐标变换法的基础上，着重深入研究了雷达垂直扫描中心角的误差与自主车３个姿态角的误差及激光测距成像雷达多义性间距对障碍物检测结果的影响。

REAL TIME ALGORITHMS STUDY AND ERROR ANALYSIS ON OBSTACLE DETECTION USING RANGE IMAGE OF LASER RANGE SENSOR IN ALV

On the basis of describing real time obstacle detection algorithm, coordinate transformation using range image of laser range sensor in ALV, this paper mainly studies the influence of ambiguity interval of laser range sensor and the errors of center angle of laser vertical scanning scope and the ALV attitude angles upon the results of obstacle detection. We present a method, in which we first reckon the value of center angle using range image of horizontal plane without obstacle, then obtain the value of center angle according to least square fitting. In addition, technique is also presented to minimize error of obstacle detection for thresholding elevation, which use different datum elevation in different row of elevation image.