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레이더와 비전 센서 융합 기반 도로경계 인식 기술 개발
- Alternative Title
- Road Barrier Recognition based on Radar and Vision Sensor Fusion
- Author(s)
- 김태련
- Alternative Author(s)
- Kim Taeryun
- Advisor
- 송봉섭
- Department
- 일반대학원 기계공학과
- Publisher
- The Graduate School, Ajou University
- Publication Year
- 2016-08
- Language
- kor
- Keyword
- Road barrier; Sensor fusion; Kalman filter; PDAF
- Alternative Abstract
- In this paper, the detection and tracking algorithms of road barrier including tunnel and guardrail are proposed to enhance performance and reliability for driver assistance systems. Although the road barrier is one of key features to determine a safe drivable area, it may be recognized incorrectly due to performance degradation of commercial sensors such as radar and monocular camera. Two frequent cases among many challenging problems are considered with the commercial sensors. The first case is that few tracks of radar are detected to road barrier due to material type of road barrier. The second one is inaccuracy of relative lateral position by radar, thus resulting in large variance of distance between a vehicle and road barrier. To overcome the problems, the detection and estimation algorithms of tracks corresponding to road barrier are proposed. Then, the tracking algorithm based on a probabilistic data association filter (PDAF) is used to reduce variation of lateral distance between vehicle and road barrier. Finally, the proposed algorithms are validated via field test data and their performance is compared with one of road barrier measured by lidar.
- Fulltext
- Appears in Collections:
- Graduate School of Ajou University > Department of Mechanical Engineering > 3. Theses(Master)
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