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Lidar-based road terrain recognition for passenger vehicles
by Shifeng Wang; Sarath Kodagoda; Lei Shi; Ning Xu
International Journal of Vehicle Design (IJVD), Vol. 74, No. 2, 2017


Abstract: The road terrain type is important information about a passenger vehicle's surroundings. It suggests an appropriate control algorithm and driving strategy. In this paper, a Lidar sensor is employed to reconstruct the road surface and extract features for terrain classification. The experiment vehicle was driven on four specific road terrains at a variety of speeds. The speed dependency and the effect of using principal component analysis were investigated. The simulation experimental results show that this Lidar sensor-based approach is feasible and robust for passenger vehicles in a range of outdoor scenarios.

Online publication date: Tue, 25-Jul-2017


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