Laserscanner-based lane detection and relative positioning

Transcription

Laserscanner-based lane detection
and relative positioning
Daniel Westhoff, Florian Ahlers
Ibeo Automobile Sensor GmbH
presented by
Dr. Kay Fuerstenberg
Director of Research
Ibeo Automobile Sensor GmbH
Overview
Content Overview
•
HAVEit project and its objectives
•
Laserscanner system and integration
•
Lane Detection and Relative
positioning
•
Challenges and constraints
•
Summary and Outlook
Dr. Kay Fürstenberg | Ibeo Automobile Sensor GmbH
2
Key data
Integrated project:
ICT 2007.6.1, project no. 212154
Start:
01 February 2008
End:
31 July 2011
Budget / funding:
28 M€ / 17 M€
Consortium:
3
Main objective: Improve safety and environment
Improvement of safety and
environment by
highly automated vehicle applications
supporting the driver in overload and
underload situations built on
•
the joint system driver – co-system
selecting the appropriate degree of
automation depending on driving
situation and driver state and
•
the safe vehicle architecture with
migration concept supporting also
by-wire-applications.
4
Sensor Integration
Integration Key Facts
3 Ibeo LUX Laserscanners
Ibeo LUX
•
Integration into front bumper
•
Maximum detection range: 200m
•
Total field of view: >180°
Dr. Kay Fuerstenberg | Ibeo Automobile Sensor GmbH
5
Laserscanner System
Ethernet
CAN Access
Data input – vehicle data:
•
Velocity,
•
Yaw rate,
•
Acceleration
•
Steering wheel angle
•
…
LUX ECU
LUX
Laserscanners
6
Ground detection
•
Measurements at the ground are determined
•
Restricted to bottom two layers of Ibeo LUX Laserscanner
•
Distinction between road surface and lane markings
•
Accumulation of lane marking detections over time
•
Creation of local map of lane markings
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Scan data birdview and GroundMap
lane
marking
road surface
object
Laserscanner data
Ground map
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Lane Detection and Relative Positioning
local map of lane
markings at end of a
construction site
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Lane Detection and Relative Positioning
• lane markings are tracked
• lanes are tracked
• relative position in own lane
is calculated
estimation
of
own lane
10
Lane Detection Video
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Guard Rail Detection and Relative Positioning
• objects are tracked
objects
• guard rails are tracked
• relative position to left and
right guard rail is determined
guard
rails
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Guard Rail Detection Video
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Summary and Outlook
Summary:
• Detection and tracking of lane markings
• Tracking of own lane
• Detection and tracking of guard rails
• Relative position estimation to own lane and guard rails
Outlook:
• Quantitative evaluation of detection and positioning quality
• Improvement based on quality measure
14
Thank you for your attention!
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Laserscanner-based lane detection and relative positioning

Transcription

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