Environmental perception and the movement of obstacles including position and velocity in the real traffic scenarios are very important for collision-free lane changing. Autonomous vehicles are usually equipped with Light Detection and Ranging (LiDAR), Radio Detection and Ranging (RADAR), and camera sensors. This paper presents an obstacle detection algorithm to assist autonomous vehicle for changing the lane using TF02 range finder LiDAR. Aiming the lane change assistance there are four sensors have been placed, among which two sensors are located at the front side of the vehicle and other two are located at the rear side of the vehicle with 900° tilt angle from the front direction. The proposed method begins by detecting the sideways obstacles from the senor data, and then estimates the relative distance. The experimentations have been done in several scenarios, including colored, transparent, and hallow objects. The experimentation results show that this method can detect obstacles accurately with high degree of reliability.
Lane Change Assistance Using LiDAR for Autonomous Vehicles
Lect. Notes in Networks, Syst.
Information and Communication Technology for Competitive Strategies (ICTCS 2020) ; Kapitel : 57 ; 649-657
06.07.2021
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch