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An automatic lane identification method for the roadside light detection and ranging sensor
| 题名： | An automatic lane identification method for the roadside light detection and ranging sensor |
| 正文语种： | 英文 |
| 作者： | Jianqing Wu;Hao Xu;Yuan Tian;Yongsheng Zhang;Junxuan Zhao;Bin Lv |
| 作者单位： | Shandong University;University of Nevada |
| 关键词： | lane identification; roadside LiDAR; traversal search |
| 摘要： | The roadside Light Detection and Ranging (LiDAR) sensor can provide the high-resolution micro traffic data (HRMTD) of all road users by collecting real-time point clouds in three-dime nsional (3D) space. The HRMTD collected by the roadside LiDAR provides a solution to fill the data gap under the mixed situation (both connected vehicles and unconnected vehicles exist on the roads) for conn ected vehicle technologies. Lane identification is import-ant information in HRMTD. The current lane identification algorithms are mainly developed for autonomous vehicles, which could not be directly used to process roadside LiDAR data. This article provides an innovative algorithm to automatically identify traffic lanes for the roadside LiDAR data. The proposed lane identification algorithm includes five major steps: background filtering, point clustering, object classification, frame aggregation, and traversal search. The parameters used in the algorithm are selected by balancing the time cost and the accuracy. With the GPS in formation, the locati on of the lane can be trans ferred into the GoogleEarth and be compared with the location of the lane in real world. The testing results showed that the average distance error (ADE) compared to the real location in Google Earth was less than 0.1 m. This robust lane identiflcation can release engineers from the manual lane identification task and avoid any error caused by manual work. The extracted lane locations can be used for researchers and practitioners to locate the vehicles precisely in different applications. |
| 出版日期： | 2020 |
| 出版年： | 2020 |
| 期刊名称： | Journal of Intelligent Transportation Systems Technology Planning and Operations |
| 卷： | Vol24 |
| 期： | No01-06 |
| 页码： | 467-479 |
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