School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100089, China.
Department of Transport and Planning, Faculty of Civil Engineering and Geosciences, Delft University of Technology, Stevinweg 1, 2628 CN Delft, The Netherlands.
Sensors (Basel). 2021 Feb 14;21(4):1354. doi: 10.3390/s21041354.
Unmanned ground vehicles (UGVs) have great potential in the application of both civilian and military fields, and have become the focus of research in many countries. Environmental perception technology is the foundation of UGVs, which is of great significance to achieve a safer and more efficient performance. This article firstly introduces commonly used sensors for vehicle detection, lists their application scenarios and compares the strengths and weakness of different sensors. Secondly, related works about one of the most important aspects of environmental perception technology-vehicle detection-are reviewed and compared in detail in terms of different sensors. Thirdly, several simulation platforms related to UGVs are presented for facilitating simulation testing of vehicle detection algorithms. In addition, some datasets about UGVs are summarized to achieve the verification of vehicle detection algorithms in practical application. Finally, promising research topics in the future study of vehicle detection technology for UGVs are discussed in detail.
无人地面车辆（UGVs）在民用和军用领域都具有巨大的应用潜力，已成为许多国家的研究热点。环境感知技术是 UGVs 的基础，对于实现更安全、更高效的性能具有重要意义。本文首先介绍了常用于车辆检测的传感器，列出了它们的应用场景，并比较了不同传感器的优缺点。其次，详细地从不同传感器的角度，对环境感知技术中最重要的方面之一——车辆检测的相关工作进行了回顾和比较。第三，介绍了几个与 UGV 相关的仿真平台，以方便车辆检测算法的仿真测试。此外，还总结了一些关于 UGV 的数据集，以在实际应用中验证车辆检测算法。最后，详细讨论了未来 UGV 车辆检测技术的一些有前景的研究课题。
