Title :
Development of preceding vehicle recognition algorithm for lead vehicle of autonomous platooning system based on multi sensor fusion and digital map
Author :
Okada, Tadayuki ; Suganuma, Naoki
Author_Institution :
Grad. Sch. of Natural Sci. & Technol., Kanazawa Univ., Kanazawa, Japan
Abstract :
We have been developing an autonomous platooning system of heavy trucks aimed at enhancing its energy efficiency by shortening headway distance between trucks. In this paper, we focused on developing a forward environment perception method for fully automated lead vehicle of the autonomous platooning system. To percept the forward environment of autonomous platooning system, it is important to robustly detect obstacles from distance. Additionally, it is also important to recognize which lane the detected obstacles exist. In this research, the obstacles are detected robustly and precisely based on multi-sensor fusion scheme between LIDAR and RADAR. Moreover, the lanes, where the obstacles exist, are recognized by using digital map based on lane marker detection.
Keywords :
automated highways; cartography; energy conservation; object detection; object recognition; optical radar; road vehicles; sensor fusion; LIDAR; RADAR; autonomous platooning system; digital map; energy efficiency; forward environment perception method; fully automated lead vehicle; heavy truck; lane marker detection; multisensor fusion; preceding vehicle recognition algorithm; robustly obstacle detection; Laser beams; Laser radar; Radar detection; Radar tracking; Robustness; Vehicles; Autonomous vehicle; Environment perception; Existing lane recognition; LIDAR; RADAR; Sensor fusion;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
