Experimental Studies of Autonomous Driving of a Vehicle on the Road Using LiDAR and DGPS

被引：0

作者：

Kim, Jeong Ku ^{[1
]}

Kim, Jin Wook ^{[2
]}

Kim, Jin Hyung ^{[2
]}

Jung, Tae Hyung ^{[1
]}

Park, Young Jun ^{[2
]}

Ko, Yun Ho ^{[2
]}

Jung, Seul ^{[2
]}

机构：

[1] HyunDai MOBIS, Smart Car Res Ctr, Yongin, South Korea

[2] Chungnam Natl Univ, Dept Mechatron Engn, Daejeon 305764, South Korea

来源：

2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2015年

关键词：

Curb extraction algorithm; drivable path; autonomous vehicle; LiDAR; DGPS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the practical method of finding the drivable path on the road for the autonomous vehicle using a multi-channel LiDAR sensor. Determination of the drivable path is quite important for the vehicle to guarantee the safety of the driver. To increase the reliability of determination, many sensors should be used and fused together. The LiDAR sensor is one of potential sensors among many sensors for the accurate estimation of the road condition by extracting curb information on the road. The global map is built on the basis of the point clouds from the sensor with the help of DGPS information and the drivable path is determined. Actual driving experiments on the road are performed with the test vehicle based on the sensor fusion between DGPS and LiDAR.

引用

页码：1366 / 1369

页数：4