Experimental studies of autonomous driving of a vehicle on the road using LiDAR and DGPS

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.