Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2015.14.9002

Independent Object based Situation Awareness for Autonomous Driving in On-Road Environment  

Noh, Samyeul (Electronics and Telecommunications Research Institute (ETRI))
Han, Woo-Yong (Electronics and Telecommunications Research Institute (ETRI))
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.2, 2015 , pp. 87-94 More about this Journal
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.
Keywords
autonomous driving; situation awareness; risk assessment; independent object;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
연도 인용수 순위
1 S. Thrun et al., "Stanley: the robot that won the DARPA grand challenge," Journal of Field Robotics, vol. 23, no. 9, pp. 661-692, 2006.   DOI
2 C. Urmson et al., "Autonomous driving in urban environments: boss and the urban challenge," Journal of Field Robotics, vol. 25, no. 8, pp. 425-466, 2008.   DOI
3 A. Bacha et al., "Odin: team victor tango's entry in the DARPA urban challenge," Journal of Field Robotics, vol. 25, no. 8, pp. 467-492, 2008.   DOI
4 M. Montemerlo et al., "Junior: the stanford entry in the urban challenge," Journal of Field Robotics, vol. 25, no. 9, pp. 569-597, 2008.   DOI
5 S. Yang, B. Song, and J. Um, "Radar and vision sensor fusion for primary vehicle detection," Journal of Institute of Control, Robotics and Systems, vol. 16, no. 7, 2010.
6 J. Park and J. Song, "Sensor fusion based semantic map building," Journal of Institute of Control, Robotics and Systems, vol. 17, no. 3, pp. 277-282, 2011.   DOI
7 J. Kim, J. Lee, B. Yoon, J. Park, and J. Kim, "Research of vehicles longitudinal adaptive control using V2I situated cognition based on LiDAR for accident prone areas," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 5, pp. 453-464, 2012.   DOI
8 H. Kim, J. Kim, Y. Ji, and J. Park, "Path planning of swarm mobile robots using firefly algorithm," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 19, no. 5, 2013.
9 J. Lee, J. Seok, J. Ha, J. Lee, and H. Lee, "Temporal waypoint revision method to solve path mismatch problem of hierarchical integrated path planning for mobile vehicle," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 7, pp. 664-668, 2012.   DOI
10 P. Beeson, J. O'Quin, B. Gillan, T. Nimmagadda, M. Ristroph, D. Li, and P. Stone, "Multi-agent interactions in urban driving," Journal of Physical Agents: Multi-Robot Systems, vol. 2, no. 1, pp. 15-29, 2008.
11 S. Glaser, B. Vanholme, S. Mammar, D. Gruyer, and L. Nouveliere, "Maneuver based trajectory planning for highly autonomous vehicles on real road with traffic and driver interaction," IEEE Transactions on Intelligent Transportation Systems, vol. 11, no. 3, 2010.
12 S. Noh and W. Y. Han, "Obstacle avoidance in on-road environment for autonomous driving," Proc. of IEEE International Conference on Control, Automation and Systems, 2014.
13 ROS, http://www.ros.org
14 ISO 22179, Intelligent transport systems - Full speed range adaptive cruise control (FSRA) systems - Performance requirements and test procedures
15 Korean traffic laws, www.law.go.kr/법령/도로교통법