| Autor: |
Stefan Lueke, Dirk Waldbauer, Michael Darms, Matthias Komar |
| Rok vydání: |
2010 |
| Předmět: |
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| Zdroj: |
IFAC Proceedings Volumes. 43:761-767 |
| ISSN: |
1474-6670 |
| DOI: |
10.3182/20100712-3-de-2013.00044 |
| Popis: |
The contribution describes an assistance system, which supports the driver with lateral functions in construction-sites. This system is based on short-range radar sensors for side observation. The observation ahead of the vehicle is based on 77Ghz long range radar and a mono camera. From the camera images, a 3D reconstruction is computed. The result is fused with data of the imaging radar sensor ARS300 using a so-called “Occupancy Grid” approach. Based on this, road boundaries are determined. The contribution shows further how road boundaries can be determined from this grid information. Together with dynamic objects and roadway markings, a current right and left delimitation of the allowed driving corridor is determined and a desired path for the ego vehicle is computed. For the lateral support, a lane centring function is combined with a loose lateral guidance called “virtual wall”. The “virtual wall” function is described in detail and the resulting performance in a test construction-site with truck dummy vehicle is shown. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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