상세정보
학술지
도로 환경에서 자율 주행을 위한 독립 관찰자 기반 주행 상황 인지 방법
- 발행일
- 201502
- 출처
- 제어로봇시스템학회논문지, v.21 no.2, pp.87-94
- ISSN
- 1976-5622
- 출판사
- 제어로봇시스템학회
- 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.
- KSP 제안 키워드
- Coordinate Transformation, Data fusion, Open source, Robot operating system(ROS), Situation Assessment, Situation awareness(SA), autonomous driving, data filtering, road environment