First,some objects beside road such as the trees are detected as obstacle,and road boundary is reckoned by such obstacle inforamtion,the algorithm and scheme is detailed in this paper.

• 首先利用传感器对路边的树木等物体作为障碍物来进行检测,并据此信息来推算道路边界,详细介绍了具体的方案和算法。