A better obstacle detection method based on tentacle algorithm of obstacle avoidance for intelligent vehicle

Aim: Some information may be faulty in the primary obstacle map based on a 360 degree lidar; therefore, an improved obstacle detection method based on tentacle algorithm of obstacle avoidance for intelligent vehicle is presented. We believe that this method is much better than existing ones. Section 1 builds a primary obstacle map as shown in Fig. 1. In section 2, we describe the tentacle algorithm and show a group of tentacles as shown in Fig. 2. Section 3 mainly consists of; (1) the definition and calculation of support area and minimum support area; Figs. 3 through 5 are worth noticing; (2) subsection 3. 2 gives the procedure of the improved method. Simulation results are given in Figs. 6 and 7. The results and their analysis show preliminarily that the method is both reliable and effective, thus proving that our method is indeed better.