Obstacle detection research based on four-line laser radar in vehicle

In order to complete the task of vehicle's autonomous driving in structural road, it's necessary to detect obstacles. This paper proposed a method of obstacle detection, taking use of the four-line laser radar. This algorithm combined the improved DBSCAN with K-Means and overcame DBSCAN's defect that it couldn't divide obstacles with similar density. At the same time, this method can eliminate noise points effectively. Based on clustering, obstacle's information can be acquired, such as angle, distance and size, to achieve the task of obstacle detection. The algorithm is applied to obstacle detection in intelligent vehicle. The test proved that it is consistent and reliable, which complies with the requirement of intelligent vehicle's autonomous driving.