Development of preceding vehicle recognition algorithm for lead vehicle of autonomous platooning system based on multi sensor fusion and digital map

Author

Okada, Tadayuki ; Suganuma, Naoki

Author_Institution

Grad. Sch. of Natural Sci. & Technol., Kanazawa Univ., Kanazawa, Japan

fYear

2011

fDate

13-18 Sept. 2011

Firstpage

247

Lastpage

250

Abstract

We have been developing an autonomous platooning system of heavy trucks aimed at enhancing its energy efficiency by shortening headway distance between trucks. In this paper, we focused on developing a forward environment perception method for fully automated lead vehicle of the autonomous platooning system. To percept the forward environment of autonomous platooning system, it is important to robustly detect obstacles from distance. Additionally, it is also important to recognize which lane the detected obstacles exist. In this research, the obstacles are detected robustly and precisely based on multi-sensor fusion scheme between LIDAR and RADAR. Moreover, the lanes, where the obstacles exist, are recognized by using digital map based on lane marker detection.

Keywords

automated highways; cartography; energy conservation; object detection; object recognition; optical radar; road vehicles; sensor fusion; LIDAR; RADAR; autonomous platooning system; digital map; energy efficiency; forward environment perception method; fully automated lead vehicle; heavy truck; lane marker detection; multisensor fusion; preceding vehicle recognition algorithm; robustly obstacle detection; Laser beams; Laser radar; Radar detection; Radar tracking; Robustness; Vehicles; Autonomous vehicle; Environment perception; Existing lane recognition; LIDAR; RADAR; Sensor fusion;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2011 Proceedings of

Conference_Location

Tokyo

ISSN

pending

Print_ISBN

978-1-4577-0714-8

Type

conf

Filename

6060612