《基于多传感器信息融合的智能车辆局部环境识别》.pdf

2 0 0 9 2 40 2 * 张 博 陈慧岩 (, 100081) , ; , DempsterShafer ; : DempsterShafer : TP2426; U4615 : A Local Environment Recognition Based on the Data Fusion of LMS and Vision Zhang o Chen Huiyan (School of Mechanical and Vehicular Engineering, Beij ing Institute of Technology, Beij ing 100081, China) Abstract In order to guide the UGV detection, a new method of local environment recognition based on the data fusion of LMS and vision were given and tested. Firstly the structure of LMS system and vision system has been modeled separately, and then the algorithm was showed to describe the data processing procedure. The grid method has been used to classify obstacle points and evaluate their cost. Considering the motor vehicle trafficability, an upgraded DempsterShafer criterion was used to revise the decisionmaking of driving. The trafficability was evaluated by reliability matrix. At last, the experiment has been done to validate the whole system. Key ords UGV, Local environment recognition, LMS, DempsterShafer criterion, Motor vehicle trafficability 1 , 3 : , , , , :, , ; , ; [ 1] , DS LMS 100 ms ; , 1 :: * ( 985 : , , , Email: winthrop@ bit. edu. cn 160 2 0 0 9 3