Sensors 2012, 12(9), 12386-12404; https://doi.org/10.3390/s120912386
Design of a Multi-Sensor Cooperation Travel Environment Perception System for Autonomous Vehicle
1
State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing,Wuhan University, No.129, Luoyu Road, Wuhan, 430079, China
2
School of Electronic Information, Wuhan University, No.129, Luoyu Road, Wuhan, 430079, China
*
Authors to whom correspondence should be addressed.
Received: 31 July 2012 / Revised: 20 August 2012 / Accepted: 23 August 2012 / Published: 12 September 2012
(This article belongs to the Special Issue New Trends towards Automatic Vehicle Control and Perception Systems)
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Abstract
This paper describes the environment perception system designed for intelligent vehicle SmartV-II, which won the 2010 Future Challenge. This system utilizes the cooperation of multiple lasers and cameras to realize several necessary functions of autonomous navigation: road curb detection, lane detection and traffic sign recognition. Multiple single scan lasers are integrated to detect the road curb based on Z-variance method. Vision based lane detection is realized by two scans method combining with image model. Haar-like feature based method is applied for traffic sign detection and SURF matching method is used for sign classification. The results of experiments validate the effectiveness of the proposed algorithms and the whole system. View Full-TextKeywords:
autonomous vehicle; travel environment perception system; multi-sensor cooperation; road and lane detection; traffic sign detection
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MDPI and ACS Style
Chen, L.; Li, Q.; Li, M.; Zhang, L.; Mao, Q. Design of a Multi-Sensor Cooperation Travel Environment Perception System for Autonomous Vehicle. Sensors 2012, 12, 12386-12404.