Advanced safety systems capable of braking the host vehicle automatically in relation to objects alongside the road are conceivable. In that case, the targets of detection must be expanded to include road structures along the road, in addition to objects in the host vehicle's estimated path. Accordingly, studies need to be undertaken to examine detection methods capable of detecting not only objects in the host vehicle's estimated path but also road structures. A method has been developed for estimating the road configuration and reliably distinguishing road structures and vehicles based on detected points obtained with a scanning laser radar and without relying on relative velocities. The proposed method extracts road structure candidate points as stationary objects and detects forward vehicles on the basis of detected points other than those candidate points. This method was incorporated in a personal computer-based simulator and in a prototype in-vehicle system for conducting evaluations using data collected mainly on expressways in Japan. The results confirmed that the proposed method is capable of distinguishing vehicles and road structures. However, the detection results also indicated that some road structures were not accurately detected even though they were present on the test courses and that some aspects of the method were not suitable especially for use on ordinary roads. In order to implement this method on production vehicles, it will be necessary to research a detection process that combines a scanning laser radar with other sensors and examine the ability of this method to handle.


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    Title :

    A study on road structure detection technology using scanning laser radar


    Additional title:

    Erkennung von Straßenoberfläche und -zustand mit einem abtastenden Laserradar


    Contributors:

    Published in:

    Publication date :

    2004


    Size :

    6 Seiten, 7 Bilder, 4 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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