Abstract
With the development of sensor fusion technologies, there has been a lot of research on intelligent ground vehicles, where is one of the key aspects of vehicle driving. is a complicated task, which involves the diversity of obstacles, sensor characteristics, and environmental conditions. While the on-road driver assistance system or autonomous driving system has been well researched, the methods developed for the structured road of city scenes may fail in an because of its uncertainty and diversity. A single type of sensor finds it hard to satisfy the needs of because of the sensing limitations in range, signal features, and working conditions of detection, and this motivates researchers and engineers to develop and system integration methodology. This survey aims at summarizing the main considerations for the onboard multi-sensor configuration of intelligent ground vehicles in the s and providing users with a guideline for selecting sensors based on their performance requirements and application environments. State-of-the-art methods and system prototypes are reviewed and associated to the corresponding heterogeneous sensor configurations. Finally, emerging technologies and challenges are discussed for future study.
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