Lidar-based road terrain recognition for passenger vehicles

Publication Type:
Journal Article
Citation:
International Journal of Vehicle Design, 2017, 74 (2), pp. 153 - 165
Issue Date:
2017-01-01
Metrics:
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Copyright © 2017 Inderscience Enterprises Ltd. The road terrain type is important information about a passenger vehicle’s surroundings. It suggests an appropriate control algorithm and driving strategy. In this paper, a Lidar sensor is employed to reconstruct the road surface and extract features for terrain classification. The experiment vehicle was driven on four specific road terrains at a variety of speeds. The speed dependency and the effect of using principal component analysis were investigated. The simulation experimental results show that this Lidar sensor-based approach is feasible and robust for passenger vehicles in a range of outdoor scenarios.
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