One of the most common traffic scenario when navigating in urban area is the traffic junction. Crossing a traffic junction is not trivial for an autonomous vehicle as it needs to perform both scene understanding and decision making tasks. In this work we introduce a two-stage vision-based system for an autonomous vehicle that is capable of deciding when to cross a traffic junction safely. The first stage of the system consists of various convolutional neural network (CNN) models that are utilized to obtain information about the traffic junction. The information is then used in the second stage of the system to decide whether to cross the traffic junction. Here, it is represented as affordances and directly used by a Bayesian network to infer the final decision without the need for an environment model. The Bayesian network models the decision making process by taking into consideration the traffic rules associated with a traffic junction and avoiding collision with another traffic participant entering the traffic junction. We evaluated the feasibility of the system as well as the various components within it using real world data and achieved encouraging accuracy results. The results show the potential of the system to help autonomous vehicles to cross a traffic junction safely.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Direct Image Based Traffic Junction Crossing System for Autonomous Vehicles


    Beteiligte:
    Chen, Ee Heng (Autor:in) / Zeisler, Joran (Autor:in) / Burschka, Darius (Autor:in)


    Erscheinungsdatum :

    19.09.2021


    Format / Umfang :

    1211013 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    AUTONOMOUS JUNCTION CROSSING OF AUTOMATED VEHICLE

    CHEN EE HENG / ZEISLER JOERAN | Europäisches Patentamt | 2022

    Freier Zugriff

    PEDESTRIAN CROSSING MANAGEMENT USING AUTONOMOUS VEHICLES

    PEREZ BARRERA OSWALDO / MORALES GERARDO | Europäisches Patentamt | 2024

    Freier Zugriff

    PEDESTRIAN CROSSING MANAGEMENT USING AUTONOMOUS VEHICLES

    BARRERA OSWALDO PEREZ / MORALES GERARDO | Europäisches Patentamt | 2024

    Freier Zugriff

    Device for controlling traffic crossing a rail junction

    HEALEY NICHOLAS | Europäisches Patentamt | 2015

    Freier Zugriff

    Management of pedestrian crossing roads using autonomous vehicles

    PEREZ BARRERA OSCAR / MORALES GILBERTO | Europäisches Patentamt | 2024

    Freier Zugriff