Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Independent Object based Situation Awareness for Autonomous Driving in On-Road Environment

도로 환경에서 자율주행을 위한 독립 관찰자 기반 주행 상황 인지 방법

  • Noh, Samyeul (Electronics and Telecommunications Research Institute (ETRI)) ;
  • Han, Woo-Yong (Electronics and Telecommunications Research Institute (ETRI))
  • Received : 2014.11.15
  • Accepted : 2014.12.30
  • Published : 2015.02.01
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Abstract

This paper proposes a situation awareness method based on data fusion and independent objects for autonomous driving in on-road environment. The proposed method, designed to achieve an accurate analysis of driving situations in on-road environment, executes preprocessing tasks that include coordinate transformations, data filtering, and data fusion and independent object based situation assessment to evaluate the collision risks of driving situations and calculate a desired velocity. The method was implemented in an open-source robot operating system called ROS and tested on a closed road with other vehicles. It performed successfully in several scenarios similar to a real road environment.

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References

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