자동차안전학회지 (Journal of Auto-vehicle Safety Association)

한국자동차안전학회 (Korean Auto-vehicle Safety Association)
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차선 유실구간 측위를 위한 레이저 스캐너 기반 고정 장애물 탐지 알고리즘 개발

Laser Scanner based Static Obstacle Detection Algorithm for Vehicle Localization on Lane Lost Section

  • 서호태 (서울대학교 기계항공공학부) ;
  • 박성렬 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부)
  • 투고 : 2017.04.24
  • 심사 : 2017.08.31
  • 발행 : 2017.09.30
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초록

This paper presents the development of laser scanner based static obstacle detection algorithm for vehicle localization on lane lost section. On urban autonomous driving, vehicle localization is based on lane information, GPS and digital map is required to ensure. However, in actual urban roads, the lane data may not come in due to traffic jams, intersections, weather conditions, faint lanes and so on. For lane lost section, lane based localization is limited or impossible. The proposed algorithm is designed to determine the lane existence by using reliability of front vision data and can be utilized on lane lost section. For the localization, the laser scanner is used to distinguish the static object through estimation and fusion process based on the speed information on radar data. Then, the laser scanner data are clustered to determine if the object is a static obstacle such as a fence, pole, curb and traffic light. The road boundary is extracted and localization is performed to determine the location of the ego vehicle by comparing with digital map by detection algorithm. It is shown that the localization using the proposed algorithm can contribute effectively to safe autonomous driving.

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참고문헌

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