Road Environment Recognition Using On-vehicle LIDAR

Author

Takagi, Kiyokazu ; Morikawa, Katsuhiro ; Ogawa, Takashi ; Saburi, Makoto

Author_Institution

Dept. of Vehicle Integrated Syst. R&D, Denso Corp., Aichi

fYear

0

fDate

0-0 0

Firstpage

120

Lastpage

125

Abstract

In this paper, we present the road environment recognition algorithm using on-vehicle LIDAR. Although our 2-dimensional scanning and high-resolution LIDAR can detect the forward vehicle, other objects and the lane mark at the same time, we have only applied the LIDAR to ACC system by recognizing only vehicles. To pursue the potential of the LIDAR, DENSO has developed the road environment recognition algorithm using only the LIDAR as a forward object detection sensor with compensation of the ego-vehicle motion. As a result, we constructed a model-based algorithm, which could recognize various objects on the absolute coordinate system. Moreover we show the possibility of the coordination with LIDAR and map or GPS for high accurate navigation

Keywords

image recognition; motion compensation; object recognition; optical radar; roads; traffic engineering computing; ego-vehicle motion compensation; forward object detection sensor; on-vehicle LIDAR; road environment recognition; Laser beams; Laser radar; Mirrors; Navigation; Object detection; Personal communication networks; Road vehicles; Safety devices; Vehicle detection; Vehicle safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2006 IEEE

Conference_Location

Tokyo

Print_ISBN

4-901122-86-X

Type

conf

DOI

10.1109/IVS.2006.1689615

Filename

1689615