ETRI-Knowledge Sharing Plaform

ENGLISH

성과물

논문 검색
구분 SCI
연도 ~ 키워드

상세정보

학술지 도로 환경에서 자율 주행을 위한 독립 관찰자 기반 주행 상황 인지 방법
Cited 2 time in scopus Download 10 time Share share facebook twitter linkedin kakaostory
저자
노삼열, 한우용
발행일
201502
출처
제어로봇시스템학회논문지, v.21 no.2, pp.87-94
ISSN
1976-5622
출판사
제어로봇시스템학회
DOI
https://dx.doi.org/10.5302/J.ICROS.2015.14.9002
협약과제
14MC1300, ICT기반 차량/운전자 협력자율주행 시스템(Co-Pilot)의 판단/제어 기술 개발, 한우용
초록
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.
키워드
Autonomous driving, Independent object, Risk assessment, Situation awareness
KSP 제안 키워드
Coordinate Transformation, Data fusion, Open source, Risk assessment, Robot operating system(ROS), Situation Assessment, Situation awareness(SA), autonomous driving, data filtering, road environment