This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Drivable Area Detection and Vehicle Localization Based on Multi-Sensor Information
Technical Paper
2020-01-1027
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
Multi-sensor information fusion framework is the eyes for unmanned driving and Advanced Driver Assistance System (ADAS) to perceive the surrounding environment. In addition to the perception of the surrounding environment, real-time vehicle localization is also the key and difficult point of unmanned driving technology. The disappearance of high-precision GPS signal suddenly and defect of the lane line will bring much more difficult and dangerous for vehicle localization when the vehicle is on unmanned driving. In this paper, a road boundary feature extraction algorithm is proposed based on multi-sensor information fusion of automotive radar and vision to realize the auxiliary localization of vehicles. Firstly, we designed a 79GHz (78-81GHz) Ultra-Wide Band (UWB) millimeter-wave radar, which can obtain the point cloud information of road boundary features such as guardrail or green belt and so on. Secondly, the boundary feature of the drivable area will be extracted based on image semantic segmentation. Then, the boundary feature point cloud is extracted to realize clustering and filtering based on the improved k-means algorithm and data fusion of millimeter wave radar and image. Finally, the least square method is used to reconstruct the road boundary equation in vehicle coordinates system. The Kalman filter is used to track the vehicle position and yaw angle relative to the road boundary for localization. The vehicle platform was built up and the experiments were carried out in the urban road. Experimental results have substantiated the effectiveness as well as the robustness of the proposed method. In conclusion, the method proposed in this paper has good robustness, economy, and application value.
Recommended Content
Authors
Topic
Citation
Bai, J., Li, S., Wang, J., Huang, L. et al., "Drivable Area Detection and Vehicle Localization Based on Multi-Sensor Information," SAE Technical Paper 2020-01-1027, 2020, https://doi.org/10.4271/2020-01-1027.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 |
Also In
References
- Toledomoreo , R. , Betaille , D. , and Peyret , F. Lane-Level Integrity Provision for Navigation and Map Matching with GNSS, Dead Reckoning, and Enhanced Maps IEEE Transactions on Intelligent Transportation Systems 11 1 100 112 2010 10.11 09 /TITS.2009.2031625
- Feng , Z. , Li , M. , Stolz , M. , Kunert , M. , and Wiesbeck , W. Lane Detection with a High-Resolution Automotive Radar by Introducing a New Type of Road Marking IEEE Transactions on Intelligent Transportation Systems 20 7 2430 2447 2019 10.1109/TITS.2018.2866079
- Uchiyama , K. and Kajiwara , A. Vehicle Location Estimation Based on 79 GHz UWB Radar Employing Road Objects International Conference on Electromagnetics in Advanced Applications 2016 10.1109/ICEAA.2016.7731500
- Feng , Z. , Zhang , S. , Kunert , M. , and Wiesbeck , W. Point Cloud Segmentation with a High-Resolution Automotive Radar AmE 2019-Automotive meets Electronics; 10th GMM-Symposium 2019 1 5
- Feng , Z. , Zhang , S. , Kunert , M. , and Wiesbeck , W. Applying Neural Networks with a High-Resolution Automotive Radar for Lane Detection AmE 2019-Automotive Meets Electronics; 10th GMM-Symposium 2019 1 6
- Han , J. , Kim , D. , Lee , M. , and Sunwoo , M. Enhanced Road Boundary and Obstacle Detection Using a Downward-Looking Lidar Sensor IEEE Transactions on Vehicular Technology 61 3 971 985 2012 10.1109/tvt.2012.2182785
- Kodagoda , K.R.S. , Ge , S.S. , Wijesoma , W.S. , and Balasuriya , A.P. IMMPDAF Approach for Road-Boundary Tracking IEEE Transactions on Vehicular Technology 56 2 478 486 2007 10.1109/TVT.2007.891426
- Takagi , K. , Morikawa , K. , Ogawa , T. , and Saburi , M. Road Environment Recognition Using On-Vehicle LIDAR Intelligent Vehicles Symposium 2006 10.1109/IVS. 2006.1689615
- Lundquist , C. , Orguner , U. , and Schön , T.B. Tracking Stationary Extended Objects for Road Mapping Using Radar Measurements Intelligent Vehicles Symposium 2009 10.1109/IVS.2009.5164312
- Fardi , B. , Scheunert , U. , Cramer , H. , and Wanielik , G. Multi-Modal Detection and Parameter-Based Tracking of Road Borders with a Laser Scanner Proceedings of the Intelligent Vehicles Symposium 2003 10.1109/IVS.2003.1212890
- McCall , J.C. and Trivedi , M.M. 2006
- Kim , Z.W. Robust Lane Detection and Tracking in Challenging Scenarios IEEE Transactions on Intelligent Transportation Systems 9 1 16 26 2008 10.1109/TITS. 2007. 908582
- Chen , S. , Huang , L. , and Bai , J. Robust Multi-Lane Detection and Tracking in Temporal-Spatial Based on Particle Filtering SAE Technical Paper 2019-01-0885 2019 https://doi.org/10.4271/2019-01-0885
- Teodoro Mendes , C.C. , Frémont , V. , and Wolf , D.F. Exploiting Fully Convolutional Neural Networks for Fast Road Detection 2016 IEEE International Conference on Robotics and Automation (ICRA) 2016 10.1109/ICRA.2016.7487486
- Lin , G. , Milan , A. , Shen , C. , and Reid , I. RefineNet: Multi-Path Refinement Networks for High-Resolution Semantic Segmentation 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2017 5168 5177
- Zhao , H. , Shi , J. , Qi , X. , Wang , X. et al. Pyramid Scene Parsing Network 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2017 2881 2890
- Peng , C. , Zhang , X. , Yu , G. , Luo , G. et al. Large Kernel Matters - Improve Semantic Segmentation by Global Convolutional Network 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2017 1743 1751
- Chen , L.C. , Papandreou , G. , Schroff , F. , and Adam , H. Rethinking Atrous Convolution for Semantic Image Segmentation 2017
- Taeryun , K. and Bongsob , S. Detection and Tracking of Road Barrier Based on Radar and Vision Sensor Fusion Journal of Sensors 2016 1 8 2016 10.1155/2016/1963450
- Janda , F. , Pangerl , S. , and Schindler , A. A Road Edge Detection Approach for Marked and Unmarked Lanes Based on Video and Radar Information Fusion (FUSION), 2013 16th International Conference on 2013
- Janda , F. , Pangerl , S. , Lang , E. , and Fuchs , E. Road Boundary Detection for Run-Off Road Prevention Based on the Fusion of Video and Radar Intelligent Vehicles Symposium (IV), 2013 IEEE 2013 10.1109/IVS.2013.6629625
- Alessandretti , G. , Broggi , A. , and Cerri , P. Vehicle and Guard Rail Detection Using Radar and Vision Data Fusion IEEE Transactions on Intelligent Transportation Systems 8 1 95 105 2007 10.1109/TITS.2006.888597
- Broggi , A. , Cerri , P. , Oleari , F. , and Paterlini , M. Guard Rail Detection Using Radar and Vision Data Fusion for Vehicle Detection Algorithm Improvement and Speed-Up Proceedings of the Intelligent Transportation Systems, 2005 2005 10.1109/ITSC.2005.1520162
- Hu , X. , Rodriguez , F.S.A. , and Gepperth , A. A Multi-Modal System for Road Detection and Segmentation Intelligent Vehicles Symposium 2014 10.1109/IVS.2014.6856466
- Xiao , L. , Wang , R. , Dai , B. , Fang , Y. et al. Hybrid Conditional Random Field Based Camera-Lidar Fusion for Road Detection Information Sciences 2018 10.1016/j.ins.2017.04.048
- Yenıaydin , Y. and Schmidt , K.W. Sensor Fusion of a Camera and 2D LIDAR for Lane Detection 2019 27th Signal Processing and Communications Applications Conference (SIU) 2019 1 4 10.1109/SIU.2019.8806579
- Yenıaydin , Y. and Schmidt , K.W. Sensor Fusion of a Camera and 2D LIDAR for Lane Detection 2019 27th Signal Processing and Communications Applications Conference (SIU) 2019 1 4 10.1109/SIU.2019.8806579
- Hasch , J. Driving towards 2020: Automotive Radar Technology Trends 2015 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM) 2015 10.1109/ICMIM.2015.7117956
- Steinbaeck , J. , Steger , C. , Holweg , G. , and Druml , N. Next Generation Radar Sensors in Automotive Sensor Fusion Systems 2017 Sensor Data Fusion: Trends, Solutions, Applications (SDF) 2017 1 6 10.1109/SDF.2017.8 1 26389
- Patole , S.M. , Torlak , M. , Wang , D. , and Ali , M. Automotive radars: a review of signal processing techniques IEEE Signal Processing Magazine 34 2 22 35 2017 10.1109/MSP.2016.2628914
- Garcia-Garcia , A. , Orts-Escolano , S. , Oprea , S. , Villena-Martinez , V. et al. A Review on Deep Learning Techniques Applied to Semantic Segmentation 2017
- Zhao , H. , Shi , J. , Qi , X. , Wang , X. et al. Pyramid Scene Parsing Network Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2017 2881 2890
- Zhou , B. , Zhao , H. , Puig , X. , Xiao , T. et al. Semantic Understanding of Scenes through the ADE20K Dataset International Journal of Computer Vision 127 3 302 321 2019 10.1007/s11263-018-1140-0
- Cordts , M. , Omran , M. , Ramos , S. , Rehfeld , T. et al. The Cityscapes Dataset for Semantic Urban Scene Understanding Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016 3213 3223
- Kim , D.Y. and Jeon , M. Data Fusion of Radar and Image Measurements for Multi-Object Tracking via Kalman Filtering Information Sciences 278 641 652 2014 10.1016/j.ins.2014. 03. 080
- Wong , J.A.H.A. Algorithm as 136: A k-Means Clustering Algorithm Journal of the Royal Statistical Society. Series C (Applied Statistics) 28 1 100 108 1979 10.2307/23 46 830