Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Radar, Vision, Lidar Fusion-based Environment Sensor Fault Detection Algorithm for Automated Vehicles

레이더, 비전, 라이더 융합 기반 자율주행 환경 인지 센서 고장 진단

  • 최승리 (서울대학교 기계항공공학부) ;
  • 정용환 (서울대학교 기계항공공학부) ;
  • 이명수 (한국교통안전공단) ;
  • 이경수 (서울대학교 기계항공공학부)
  • Received : 2017.10.18
  • Accepted : 2017.12.12
  • Published : 2017.12.31
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Abstract

For automated vehicles, the integrity and fault tolerance of environment perception sensor have been an important issue. This paper presents radar, vision, lidar(laser radar) fusion-based fault detection algorithm for autonomous vehicles. In this paper, characteristics of each sensor are shown. And the error of states of moving targets estimated by each sensor is analyzed to present the method to detect fault of environment sensors by characteristic of this error. Each estimation of moving targets isperformed by EKF/IMM method. To guarantee the reliability of fault detection algorithm of environment sensor, various driving data in several types of road is analyzed.

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References

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