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Vision-only fully automated driving in dynamic mixed-traffic scenarios

Schwesinger, Ulrich ; Versari, Pietro ; Broggi, Alberto ; Siegwart, Roland

In: it - Information Technology, 2015, vol. 57, no. 4, p. 231-242

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    Titel
    • Vision-only fully automated driving in dynamic mixed-traffic scenarios
    Autor
    • Schwesinger, Ulrich. Autonomous Systems Lab, Institute of Robotics and Intelligent Systems, ETH Zurich
    • Versari, Pietro. VisLab, Department of Information Engineering, University of Parma
    • Broggi, Alberto. VisLab, Department of Information Engineering, University of Parma
    • Siegwart, Roland. Autonomous Systems Lab, Institute of Robotics and Intelligent Systems, ETH Zurich
    Dokumententyp
    • Postprint
    Sprache
    • Englisch
    Veröffentlicht in
    • it - Information Technology, 2015, vol. 57, no. 4, p. 231-242. De Gruyter Oldenbourg
    Andere elektronische Ausgabe
    OAI-PMH-ID
    • oai:doc.rero.ch:325336
    Summary
    In this work an overview of the local motion planning and dynamic perception framework within the V-Charge project is presented. This framework enables the V-Charge car to autonomously navigate in dynamic mixed-traffic scenarios. Other traffic participants are detected, classified and tracked from a combination of stereo and wide-angle monocular cameras. Predictions of their future movements are generated utilizing infrastructure information. Safe motion plans are acquired with a system-compliant sampling-based local motion planner. We show the navigation performance of this vision-only autonomous vehicle in both simulation and real-world experiments.