Title: A positioning method of intelligent networked vehicle based on laser radar

Authors: Zhiting Liu; Fanxiu Shi

Addresses: School of Automotive Engineering, Hunan Communication Polytechnic, Changsha, Hunan, China ' Department of Automotive Engineering, Jining Polytechnic, Jining, China

Abstract: To effectively solve the problem of large positioning deviation and high positioning delay, an intelligent networked vehicle positioning method based on LiDAR is proposed. Based on a planar model, ground point cloud extraction is carried out and non-ground point clouds are clustered to filter out noisy points in the point cloud. Motion distortion compensation is applied to the point cloud data. Extracting feature point clouds based on roughness, utilising a LiDAR odometer for localisation and eliminating accumulated errors during this process through loop detection and backend pose map optimisation, to achieve intelligent networked vehicle localisation. The experimental results show that the positioning delay of the proposed method is always maintained below 2.3 ms, and the positioning deviation is low, indicating that it has high positioning accuracy and can provide key technical support for intelligent transportation systems.

Keywords: LiDAR; intelligent connected vehicle; LiDAR odometer; positioning method.

DOI: 10.1504/IJCAT.2024.143308

International Journal of Computer Applications in Technology, 2024 Vol.74 No.4, pp.361 - 371

Received: 28 Feb 2024
Accepted: 29 Aug 2024
Published online: 12 Dec 2024 *

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