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Journal Article
도로 환경에서 자율 주행을 위한 독립 관찰자 기반 주행 상황 인지 방법
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- Issue Date
- 2015-02
- Citation
- 제어로봇시스템학회논문지, v.21, no.2, pp.87-94
- ISSN
- 1976-5622
- Publisher
- 제어로봇시스템학회
- Language
- Korean
- Type
- Journal Article
- 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.
- KSP Keywords
- Coordinate Transformation, Data fusion, Robot Operating System(ROS), Situation Assessment, Situation awareness(SA), autonomous driving, data filtering, open source, road environment