激光雷达具有实时性强、检测深度广、受环境干扰小等优势,为此,提出了基于激光雷达的复杂环境车辆实时检测方法。首先采用激光雷达扫描车辆行驶复杂环境,采集数据,然后采用三维激光点云投射法把激光雷达数据转化到车身坐标系中,并塑造数据栅格结构,通过梯度法切割栅格结构中的激光雷达数据,在切割块中索引出障碍物标记图,最后采用盒还原法检测出障碍物的形状、体积、速度和坐标,利用级联分类器控制检测精度。实验结果表明,该方法复杂性低、有效性强。 The laser radar has the advantages of real-time, wide detection depth and small interference with the environment. Therefore, a real-time detection method of complex environment vehicles based on laser radar is proposed. Firstly, the laser radar was used to scan the complex environment of the vehicle and collect the data. Then, the laser radar data was transformed into the vehicle body coordinate system by 3D laser point cloud projection method, and the data grid structure was shaped. The laser radar Finally, the shape, volume, velocity and coordinates of the obstacle were detected by the box reduction method. The cascade classifier was used to control the detection accuracy. Experimental results show that the proposed method is of low complexity and effective.