For autonomous driving, knowledge about the current environment and especially the driveable lanes is of utmost importance. Currently this information is often extracted from meticulously (hand-)crafted offline high-definition maps, restricting the operation of autonomous vehicles to few well-mapped areas and making it vulnerable to temporary or permanent environment changes. This paper addresses the issues of map-based road models by building the road model solely from online sensor measurements. Based on Dempster-Shafer theory and a novel frame of discernment, sensor measurements, such as lane markings, semantic segmentation of drivable and non-drivable areas and the trajectories of other observed traffic participants are fused into semantic grids. Geometrical lane information is extracted from these grids via an iterative path-planning method. The proposed approach is evaluated on real measurement data from German highways and urban areas.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Semantic Grid-Based Road Model Estimation for Autonomous Driving


    Beteiligte:
    Thomas, Julian (Autor:in) / Tatsch, Julian (Autor:in) / van Ekeren, Wim (Autor:in) / Rojas, Raul (Autor:in) / Knoll, Alois (Autor:in)


    Erscheinungsdatum :

    01.06.2019


    Format / Umfang :

    3472538 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    SEMANTIC GRID-BASED ROAD MODEL ESTIMATION FOR AUTONOMOUS DRIVING

    Thomas, Julian / Tatsch, Julian / Van Ekeren, Wim et al. | British Library Conference Proceedings | 2019


    Sensor-Based Road Model Estimation for Autonomous Driving

    Thomas, Julian / Rojas, Raúl | British Library Conference Proceedings | 2017


    Sensor-based road model estimation for autonomous driving

    Thomas, Julian / Rojas, Raul | IEEE | 2017


    Semantic 3D Grid Maps for Autonomous Driving

    Khoche, Ajinkya / Wozniak, Maciej K / Duberg, Daniel et al. | IEEE | 2022


    AUTONOMOUS DRIVING USING SEMANTIC INFORMATION OF A ROAD

    ZHAO YIZHE / GE LINGTING / WANG PANQU | Europäisches Patentamt | 2024

    Freier Zugriff