A real-time Road Boundary Detection Algorithm Based on Driverless Cars

DOI

10.2991/nceece-15.2016.155How to use a DOI?

Keywords

driverless cars; LIDAR; RANSAC; KALMAN filtering; Road boundary detection

Abstract

In this study, aiming at road boundary detection problem of driverless cars in structured and semi-structured roads, the paper proposed a new real-time road boundary detection algorithm based on driverless cars as a platform. The algorithm firstly included following steps: calibration, layered and median filtering according to the obtained LIDAR point cloud data, and then extract the left and right road boundary points of each layer. The extracted road boundary points are then straight line fitted using RANSAC algorithm. Finally, straight line is tracked using KALMAN filtering, then achieve real-time road boundary detection. The test results show that this boundary detection algorithm has the high accuracy and reliability and is able to accurately accomplish the boundary detection task, which can satisfy the requirements of real-time system. And this algorithm has been applied successfully in “The future challenge competition for driverless cars” in 2014 year and has obtained the third place.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xuekui Zhu
AU  - Meijuan Gao
AU  - Shangnian Li
PY  - 2015/12
DA  - 2015/12
TI  - A real-time Road Boundary Detection Algorithm Based on Driverless Cars
BT  - Proceedings of the 2015 4th National Conference on Electrical, Electronics and Computer Engineering
PB  - Atlantis Press
SP  - 843
EP  - 848
SN  - 2352-5401
UR  - https://doi.org/10.2991/nceece-15.2016.155
DO  - 10.2991/nceece-15.2016.155
ID  - Zhu2015/12
ER  -