As a research hotspot in computer vision, 3D object detection has wide application prospects. In the field of autonomous driving, the perception system with three-dimensional object detection function enables the vehicle to perceive the surrounding environment, make the vehicle more intelligent, and play a role in assisting driving. Aiming at two commonly used sensors: monocular camera and lidar, combined with deep learning, this paper separately studies the 3D target detection algorithm of PointPillars based on attention mechanism and the 3D target detection method based on monocular vision. The results show that the detection performance based on monocular vision still has advantages and can be used as an effective supplement to Lidar based three-dimensional target detection, improving the robustness of the sensing system.
According to the classification of using multiple sensors, the obstacle detection and recognition technology of unmanned driving is summarized, and the main technical means, algorithms, advantages and disadvantages, difficulties and so on are discussed. These methods mainly include lidar and camera fusion, camera and radar fusion and lidar, camera and radar fusion. In addition, some research achievements in this field in recent years are introduced, and some fusion technologies used in this field are briefly analyzed and summarized.
This paper is based on STM 32 portable body omnidirectional radar head‐up display hardware and software design. Compared with the traditional OBD, the head‐up display can not only monitor the dangerous distance of the vehicle body in the process of parking and generate early warning, but also accurately locate the position of the safe distance in the vehicle operation. The omni‐directional heads‐up display designed by the scheme can project the running parameters of the vehicle and the distance measured by the surrounding radar, which can provide a driving safety warning value for the driver. Combined with STM 32 control unit as data processing basis, ultrasonic radar sensor is used to measure the distance information around the vehicle, and the vehicle information is read with OBD II interface. Finally, the prompt information is displayed on the head‐up display.
In order to solve the problem of vehicle tracking control when GPS positioning is inaccurate, an autonomous tracking method based on lidar is proposed in this paper.The idea of this paper is to use lidar to collect environmental point cloud to identify the boundary of structured road, and then control the steering system and driving system of driverless vehicle to keep a certain distance from the boundary and drive forward.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.