Map free lane following based on low-cost laser scanner for near future autonomous service vehicle

Zhiwei Song, Weiwei Huang, Ning Wu, Xiaojun Wu, Chern Yuen Anthony Wong, V. B. Saputra, Benjamin Chia Hon Quan, Chen Jian Simon, Qun Zhang, Susu Yao, Boon Siew Han
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引用次数: 12

Abstract

This paper proposes a map free lane following solution based on low-cost 2D laser scanners for Autonomous Service Vehicle to fill the gap between future driverless car and the lane keeping assistant. The applications of autonomous service vehicle include feeder bus in a local residential area, shuttle bus in a park or playground, sprinkler car, sweeper car, and transporter in airport or container terminal. As autonomous service vehicle is running only in a limited area and its speed is slow compared to normal vehicles, we can further simplify the problem regardless of the issues of road infrastructure detection/communication and V2I maps which prevent the popularization of driverless car, and to propose a unique map free solution. The features of our approach include: 1) an innovative configuration for two 2D laser scanners to detect the lane with sharp curve; 2) a fast and accurate lane detection algorithm based on 2D laser's raw date directly; 3) a reliable and smooth path planning based on local lane fitting and prediction; and 4) a self-built unique drive-by-wire system for electronic car. We successfully tested our vehicle with autonomous driving in the testing field. The experiments show that the vehicle's trajectory matched the planned path accurately.
基于低成本激光扫描仪的免地图车道跟踪技术在未来自动驾驶服务车辆中的应用
为了填补未来无人驾驶汽车与车道保持助手之间的空白,提出了一种基于低成本二维激光扫描仪的自动驾驶服务车辆无地图车道跟踪解决方案。自动驾驶服务车辆的应用范围包括:居民区的接驳巴士、公园或游乐场的穿梭巴士、洒水车、清扫车、机场或集装箱码头的运输车等。由于自动驾驶服务车辆在有限的区域内行驶,速度相对于普通车辆较慢,我们可以进一步简化问题,不考虑阻碍无人驾驶汽车普及的道路基础设施检测/通信和V2I地图问题,提出独特的无地图解决方案。我们的方法的特点包括:1)一个创新的配置,两个二维激光扫描仪检测车道急转弯;2)直接基于二维激光原始数据的快速准确车道检测算法;3)基于局部车道拟合和预测的可靠平滑路径规划;4)自建独特的电动汽车线控系统。我们成功地在测试场测试了自动驾驶汽车。实验结果表明,车辆轨迹与规划路径匹配较好。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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