An Autonomous Driving System for Unknown Environments Using a Unified Map

Recently, there have been significant advances in self-driving cars, which will play key roles in future intelligent transportation systems. In order for these cars to be successfully deployed on real roads, they must be able to autonomously drive along collision-free paths while obeying traffic laws. In contrast to many existing approaches that use prebuilt maps of roads and traffic signals, the authors propose algorithms and systems using Unified Map built with various onboard sensors to detect obstacles, other cars, traffic signs, and pedestrians. The proposed map contains not only the information on real obstacles nearby but also traffic signs and pedestrians as virtual obstacles. Using this map, the path planner can efficiently find paths free from collisions while obeying traffic laws. The proposed algorithms were implemented on a commercial vehicle and successfully validated in various environments, including the 2012 Hyundai Autonomous Ground Vehicle Competition.

• Record URL:
  https://doi.org/10.1109/TITS.2015.2389237
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Authors:
  • Shim, Inwook
  • Choi, Jongwon
  • Shin, Seunghak
  • Oh, Tae-Hyun
  • Lee, Unghui
  • Ahn, Byungtae
  • Choi, Dong-Geol
  • Shim, David Hyunchul
  • Kweon, In-So
• Publication Date: 2015-8

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; Tables;
• Pagination: pp 1999-2013
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 16
  • Issue Number: 4
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Autonomous vehicle guidance; Digital maps; In vehicle sensors; Intelligent agents; Intelligent vehicles; Trajectory control
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment; I70: Traffic and Transport; I90: Vehicles;

Filing Info

• Accession Number: 01582689
• Record Type: Publication
• Files: TLIB, TRIS
• Created Date: Dec 3 2015 9:48AM