摘要
针对轨道交通场景下难以判断远距离障碍物是否位于限界内的问题,文章提出一种基于预建图的雷达障碍物检测系统。该系统采用一套能够适应轨道交通场景的定制化高分辨率、远距离毫米波雷达作为感知传感器,同时基于预构建的地图对障碍物进行滤除。在构建地图过程中,首先由车载激光雷达基于NDT算法构建点云地图,然后基于点云地图进一步构建语义地图来标记轨道区域边界;在列车行驶过程中,基于实时激光点云与点云地图匹配实现定位,并基于定位信息与语义地图信息实现实时航向角修正与障碍物滤除。在轨道交通场景下进行装车实验,结果表明,该系统能够稳定检测到800 m以外的障碍物,地图能够覆盖测试场景全线;且能够基于地图有效滤除轨道区域边界外的无关障碍物,从而能够正确预警限界内的障碍物。
Long distances generally pose challenges in judging whether obstacles encroach upon the clearance in rail transit scenarios.This paper proposes a radar obstacle detection system based on pre-built maps to overcome this issue.The system incorporates a set of customized high-resolution,long-range millimeter-wave radars adaptable to rail transit scenarios as perception sensors and pre-built maps to filter out obstacles.The map building process involves two steps.The first is to construct point cloud maps based on a normal distributions transform(NDT)algorithm with vehicle-mounted LiDAR;the second is to construct semantic maps based on the point cloud maps to delineate the track area boundaries.Localization is achieved for moving trains through real-time matching between the laser point clouds and point cloud maps.This system also enables real-time heading angle corrections and obstacle filtering based on positioning information and semantic map data.On-board experiments conducted in a rail transit environment demonstrated the system's capabilities in stably detecting obstacles at distance above 800 m and building maps to cover the entire test line.Furthermore,this system effectively filtered out irrelevant obstacles located outside the track area boundaries based on the maps,thereby ensuring accurate warning performance for obstacles within the clearance.
作者
李源征宇
潘文波
黄文宇
陈志伟
袁超
杨振宇
LI Yuanzhengyu;PAN Wenbo;HUANG Wenyu;CHEN Zhiwei;YUAN Chao;YANG Zhenyu(CRRC Zhuzhou Institute Co.,Ltd.,Zhuzhou,Hunan 412001,China)
出处
《控制与信息技术》
2024年第5期57-65,共9页
CONTROL AND INFORMATION TECHNOLOGY
基金
国家重点研发计划项目(2022YFB4300400)。
关键词
障碍物检测
轨道交通
毫米波雷达
地图构建
obstacle detection
rail transit
millimeter-wave radar
map building
作者简介
通信作者:李源征宇(1994-),男,硕士,工程师,主要研究方向为雷达感知与建图定位,liyzy1@csrzic.com。
