| Title |
LiDAR-based Speed Bumps Recognition and Ground Removal |
| Authors |
변예림(Yerim Byeon) ; 박만복(Manbok Park) |
| DOI |
https://doi.org/10.5573/ieie.2021.58.12.65 |
| Keywords |
Autonomous vehicle; Lidar; Ground removal; Speed bump |
| Abstract |
LIDAR is one of the core sensors of self-driving cars, and many studies are being conducted. In this paper, a ground data removal and speed bump recognition algorithm, which are the preceding processes of lidar sensor signal processing, was developed. Ground data was removed using the quadratic equation of the ground in the path using the least square method. Also, it depends on the speed bump. By analyzing the predicted and measured values of the signal-to-channel ratio, a vehicle control algorithm was developed according to the presence or absence of a bump existing in the path of the vehicle. In order to effectively remove the ground, it was determined whether the ground equation was updated according to the presence or absence of a bump. The proposed algorithm was applied to the actual vehicle to confirm the ground removal performance and the bump recognition performance. |