Road curb detection is essential for autonomous vehicles to locate themselves and make a rational decision, especially under road discontinuities, obstacle occlusions, and curved road scenarios. However, an effective and systematic solution to this problem has remained elusive. In this paper, a robust 3D-LiDAR-based method for road curb detection and tracking in a structured environment is proposed. The proposed method consists of four main stages: 1) a multi-feature based method is applied to extract candidate points; 2) a density-based clustering method is proposed for classifying left and right candidate points; 3) a candidate points filter (including distance filter and RANSAC filter) is proposed to remove false points; and 4) a least-square algorithm is used to obtain road curb curve and the amplitude-limiting Kalman filter is deployed to prevent false detection and miss detection. The comprehensive experiment evaluations show that the proposed method can deal with straight and curved road without being influenced by surrounding obstacles.INDEX TERMS Autonomous vehicle, 3D-LiDAR, curb detection, point cloud.

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In this paper, a simple and efficient rule based energy management system for battery and supercapacitor hybrid energy storage system (HESS) used in electric vehicles is presented. The objective of the proposed energy management system is to focus on exploiting the supercapacitor characteristics and on increasing the battery lifetime and system efficiency. The role of the energy management system is to yield battery reference current, which is subsequently used by the controller of the DC/DC converter. First, a current controller is designed to realize load current distribution between battery and supercapacitor. Then a voltage controller is designed to ensure the supercapacitor SOC to fluctuate within a preset reasonable variation range. Finally, a commercial experimental platform is developed to verify the proposed control strategy. In addition, the energy efficiency and the cost analysis of the hybrid system are carried out based on the experimental results to explore the most cost-effective tradeoff.

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