Using LIDAR Sensors to Detect the Boundary and Pit holes of Road

• Main Authors: Ching-HungHSIAO, 蕭景鴻
• Other Authors: Ming-Shi Wang
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/yx7dyc

碩士 === 國立成功大學 === 工程科學系 === 107 === In recent years, global auto technology has gradually matured, and many countries have conducted on-site tests on autonomous vehicles. In addition to obstacles affecting the safety and comfort of the vehicle during driving, the pit hole on the road can also cause dangerous to the vehicle. In order to reduce accidents caused by poor road conditions, it is necessary to accurately detect road boundaries and detect road pit holes or obstacles. Therefore, in this research, LiDAR is applied to detect the boundary and pit hole or obstacles of a road. There is an assumption that there is step existed between the road lane and road boundary. The concept used for detection the boundary of a road is to estimate the distance between the LiDAR and the point on the road the light strike on. Compare the distance between the LiDAR and two continuous strike points on the road, if the difference of these two distance is large than a threshold, then these two points are not located on the same horizontal level. The method used to determine if the two stroked points of the road surface are located on the same horizontal level is called break point detection algorithm. The Iterative End Point Fit algorithm is applied to Fit road contours. In this study, the breakpoint detection algorithm is extended to including find the pit holes or obstacles of the road. Experimental results show it can successfully detect road boundaries and pit hole. When the width of the pit hole are more than 10 cm, the error is less than 1.5 cm respectively.