Surrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion
Abstract Radar and LiDAR are two environmental sensors commonly used in autonomous vehicles, Lidars are accurate in determining objects’ positions but significantly less accurate as Radars on measuring their velocities. However, Radars relative to Lidars are more accurate on measuring objects veloci...
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2021
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oai:doaj.org-article:11cc01784f46495980d096f211531d542021-12-05T12:03:39ZSurrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion10.1186/s10033-021-00630-y1000-93452192-8258https://doaj.org/article/11cc01784f46495980d096f211531d542021-12-01T00:00:00Zhttps://doi.org/10.1186/s10033-021-00630-yhttps://doaj.org/toc/1000-9345https://doaj.org/toc/2192-8258Abstract Radar and LiDAR are two environmental sensors commonly used in autonomous vehicles, Lidars are accurate in determining objects’ positions but significantly less accurate as Radars on measuring their velocities. However, Radars relative to Lidars are more accurate on measuring objects velocities but less accurate on determining their positions as they have a lower spatial resolution. In order to compensate for the low detection accuracy, incomplete target attributes and poor environmental adaptability of single sensors such as Radar and LiDAR, in this paper, an effective method for high-precision detection and tracking of surrounding targets of autonomous vehicles. By employing the Unscented Kalman Filter, Radar and LiDAR information is effectively fused to achieve high-precision detection of the position and speed information of targets around the autonomous vehicle. Finally, the real vehicle test under various driving environment scenarios is carried out. The experimental results show that the proposed sensor fusion method can effectively detect and track the vehicle peripheral targets with high accuracy. Compared with a single sensor, it has obvious advantages and can improve the intelligence level of autonomous cars.Ze LiuYingfeng CaiHai WangLong ChenSpringerOpenarticleAutonomous vehicleRadar and LiDAR information fusionUnscented Kalman filterTarget detection and trackingOcean engineeringTC1501-1800Mechanical engineering and machineryTJ1-1570ENChinese Journal of Mechanical Engineering, Vol 34, Iss 1, Pp 1-12 (2021) |
| institution |
DOAJ |
| collection |
DOAJ |
| language |
EN |
| topic |
Autonomous vehicle Radar and LiDAR information fusion Unscented Kalman filter Target detection and tracking Ocean engineering TC1501-1800 Mechanical engineering and machinery TJ1-1570 |
| spellingShingle |
Autonomous vehicle Radar and LiDAR information fusion Unscented Kalman filter Target detection and tracking Ocean engineering TC1501-1800 Mechanical engineering and machinery TJ1-1570 Ze Liu Yingfeng Cai Hai Wang Long Chen Surrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion |
| description |
Abstract Radar and LiDAR are two environmental sensors commonly used in autonomous vehicles, Lidars are accurate in determining objects’ positions but significantly less accurate as Radars on measuring their velocities. However, Radars relative to Lidars are more accurate on measuring objects velocities but less accurate on determining their positions as they have a lower spatial resolution. In order to compensate for the low detection accuracy, incomplete target attributes and poor environmental adaptability of single sensors such as Radar and LiDAR, in this paper, an effective method for high-precision detection and tracking of surrounding targets of autonomous vehicles. By employing the Unscented Kalman Filter, Radar and LiDAR information is effectively fused to achieve high-precision detection of the position and speed information of targets around the autonomous vehicle. Finally, the real vehicle test under various driving environment scenarios is carried out. The experimental results show that the proposed sensor fusion method can effectively detect and track the vehicle peripheral targets with high accuracy. Compared with a single sensor, it has obvious advantages and can improve the intelligence level of autonomous cars. |
| format |
article |
| author |
Ze Liu Yingfeng Cai Hai Wang Long Chen |
| author_facet |
Ze Liu Yingfeng Cai Hai Wang Long Chen |
| author_sort |
Ze Liu |
| title |
Surrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion |
| title_short |
Surrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion |
| title_full |
Surrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion |
| title_fullStr |
Surrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion |
| title_full_unstemmed |
Surrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion |
| title_sort |
surrounding objects detection and tracking for autonomous driving using lidar and radar fusion |
| publisher |
SpringerOpen |
| publishDate |
2021 |
| url |
https://doaj.org/article/11cc01784f46495980d096f211531d54 |
| work_keys_str_mv |
AT zeliu surroundingobjectsdetectionandtrackingforautonomousdrivingusinglidarandradarfusion AT yingfengcai surroundingobjectsdetectionandtrackingforautonomousdrivingusinglidarandradarfusion AT haiwang surroundingobjectsdetectionandtrackingforautonomousdrivingusinglidarandradarfusion AT longchen surroundingobjectsdetectionandtrackingforautonomousdrivingusinglidarandradarfusion |
| _version_ |
1718372298204905472 |