Development of an Emergency Braking System for Teleoperated Vehicles Based on Lidar Sensor Data

Johannes Wallner, Tito Tang, Markus Lienkamp

2014

Abstract

A lidar-based approach of an emergency braking system for teleoperated vehicles is presented. Despite the time delay for the communication link of a teleoperated system, the vehicle has to be able to react to emerging objects in time. Starting with intelligent sensor data processing, reliable information is computed. An adapted particle filter algorithm tracks moving points to calculate their mean velocity, used for the prediction of surrounding moving objects. Further, in order to interpret this information, a situation assessment based on an intervention concept derived from Kamm’s circle is implemented. A motion prediction of possible trajectories of the ego-vehicle results in a clear decision-making process. All calculations are made at the raw data level and can be done online. Through artificial objects being included in real sensor data, the methodology was validated.

Paper Citation

in Harvard Style

Wallner J., Tang T. and Lienkamp M. (2014). Development of an Emergency Braking System for Teleoperated Vehicles Based on Lidar Sensor Data . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 569-576. DOI: 10.5220/0005114905690576

in Bibtex Style

@conference{icinco14,
author={Johannes Wallner and Tito Tang and Markus Lienkamp},
title={Development of an Emergency Braking System for Teleoperated Vehicles Based on Lidar Sensor Data},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={569-576},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005114905690576},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Development of an Emergency Braking System for Teleoperated Vehicles Based on Lidar Sensor Data
SN - 978-989-758-040-6
AU - Wallner J.
AU - Tang T.
AU - Lienkamp M.
PY - 2014
SP - 569
EP - 576
DO - 10.5220/0005114905690576