Perception for collision avoidance and autonomous driving

被引：96

作者：

Aufrère, R ^{[1
]}

Gowdy, J ^{[1
]}

Mertz, C ^{[1
]}

Thorpe, C ^{[1
]}

Wang, CC ^{[1
]}

Yata, T ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

来源：

MECHATRONICS | 2003年 / 13卷 / 10期

关键词：

collision avoidance; autonomous driving; short-range surround sensing; optical flow; triangulation laser sensor; curb detection; LIDAR object detection; sensor fusion; collision prediction;

D O I：

10.1016/S0957-4158(03)00047-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The Navlab group at Carnegie Mellon University has a long history of development of automated vehicles and intelligent systems for driver assistance. The earlier work of the group concentrated on road following, cross-country driving, and obstacle detection. The new focus is on short-range sensing, to look all around the vehicle for safe driving. The current system uses video sensing, laser rangefinders, a novel light-stripe rangefinder, software to process each sensor individually, a map-based fusion system, and a probability based predictive model. The complete system has been demonstrated on the Navlab I I vehicle for monitoring the environment of a vehicle driving through a cluttered urban environment, detecting and tracking fixed objects, moving objects, pedestrians, curbs, and roads. (C) 2003 Elsevier Ltd. All rights reserved.

引用

页码：1149 / 1161

页数：13

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