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Design of a Multi-Sensor Cooperation Travel Environment Perception System for Autonomous Vehicle

Authors
Journal
Sensors
1424-8220
Publisher
MDPI AG
Publication Date
Volume
12
Issue
12
Identifiers
DOI: 10.3390/s120912386
Keywords
  • Article
Disciplines
  • Computer Science
  • Design

Abstract

This paper describes the environment perception system designed for intelligent vehicle SmartV-II, which won the 2010 Future Challenge. This system utilizes the cooperation of multiple lasers and cameras to realize several necessary functions of autonomous navigation: road curb detection, lane detection and traffic sign recognition. Multiple single scan lasers are integrated to detect the road curb based on Z-variance method. Vision based lane detection is realized by two scans method combining with image model. Haar-like feature based method is applied for traffic sign detection and SURF matching method is used for sign classification. The results of experiments validate the effectiveness of the proposed algorithms and the whole system.

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