Detection method and system for a mobile object

A method of controlling an operation of a mobile object by detecting a lane and a raised boundary of a routeway, the mobile object comprising a LiDAR device, a computing system and a controller, comprising:

• (i) receiving LiDAR data, by the computing system, of an environment of the mobile object captured by the LiDAR device, the LiDAR data comprising a plurality of beams, each beam comprising a plurality of projected points each captured according to a common pitch angle of the LiDAR device;
• (ii) identifying a plurality of break points, by the computing system, each break point of the plurality of break points being in a respective linearity of consecutive projected points of at least one beam from the plurality of beams;
• (iii) locating edge points of the raised boundary, by the computing system, from the plurality of identified break points;
• (iv) extracting routeway marking edge points, by the computing system, from the LIDAR data using adaptive thresholding;
• (v) locating lane edge points, by the computing system, based on the extracted routeway marking edge points, wherein locating the edge points of the raised boundary from the plurality of identified break points and locating the lane edge points based on the extracted routeway marking edge points comprises fitting parallel linear models to selected points of the plurality of identified break points and to selected points of the extracted routeway marking edge points respectively to simultaneously generate respective lane and raised boundary models;
• and
• (vi) controlling, by the controller, the operation of the mobile object based on detected lane and raised boundary of the routeway obtained using the lane and raised boundary models.