LOW COST SENSING FOR AUTONOMOUS CAR DRIVING IN HIGHWAYS

André Gonçalves, André Godinho, João Sequeira

2007

Abstract

This paper presents a viability study on autonomous car driving in highways using low cost sensors for environment perception. The solution is based on a simple behaviour-based architecture implementing the standard perception-to-action scheme. The perception of the surrounding environment is obtained through the construction of an occupancy grid based on the processing of data from a single video camera and a small number of ultrasound sensors. A finite automaton integrates a set of primitive behaviours defined after the typical human highway driving behaviors. The system was successfully tested in both simulations and in a laboratory environment using a mobile robot to emulate the car-like vehicle. The robot was able to navigate in an autonomous and safe manner, performing trajectories similar to the ones carried out by human drivers. The paper includes results on the perception obtained in a real highway that support the claim that low cost sensing can be effective in this problem.

Paper Citation

in Harvard Style

Gonçalves A., Godinho A. and Sequeira J. (2007). LOW COST SENSING FOR AUTONOMOUS CAR DRIVING IN HIGHWAYS . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 370-377. DOI: 10.5220/0001652803700377

in Bibtex Style

@conference{icinco07,
author={André Gonçalves and André Godinho and João Sequeira},
title={LOW COST SENSING FOR AUTONOMOUS CAR DRIVING IN HIGHWAYS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={370-377},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001652803700377},
isbn={978-972-8865-83-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - LOW COST SENSING FOR AUTONOMOUS CAR DRIVING IN HIGHWAYS
SN - 978-972-8865-83-2
AU - Gonçalves A.
AU - Godinho A.
AU - Sequeira J.
PY - 2007
SP - 370
EP - 377
DO - 10.5220/0001652803700377