著者

川勝 俊輝 毛利 宏

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.854, pp.17-00099-17-00099, 2017 (Released:2017-10-25)

参考文献数

8

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Many articles have reported that the white lines painted on both sides of highways are used by automatically driven vehicles to control their lateral movement when driving. They are detected by stereo cameras or radars. And GPS is used as an additional information for improving its robustness and reliability. However, when we think about an urban area, the stereo cameras and radars cannot recognize any white lines because white lines do not exist at intersection. Therefore, a method for controlling a vehicle without environmental recognition becomes necessary. In our method, the steering angle is controlled by using simple map information comprising nodes and links of roads, which are widely used in navigation systems, and the data of the vehicle's position, which is obtained continuously. In addition, by using two front gaze points to solve the problem associated with one front gaze point, we propose a method that allows a vehicle to steer smoothly when turning at intersection. We performed an experiment using an actual vehicle under the same conditions as those used in the simulation. The results confirmed the validity of our proposed method because the target steering angles at each corner and the driving trajectory of the actual vehicle were almost the same as those obtained using the simulation.

著者

風間 恵介 川勝 俊輝 赤木 康宏 毛利 宏

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.849, pp.17-00014-17-00014, 2017 (Released:2017-05-25)

参考文献数

17

被引用文献数

2

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This paper describes the development of a new localization method using a simple 2D map. The general method for localization using a 2D map is to match between the boundary line on the 2D map and the detected boundaries in the real world, i.e. lane markers, walls of building, or curbs. It is necessary to create a differential process in order to detect boundary lines of the road. If these methods try to detect small changes, the false-detection rate increases due to enhanced noises; if they try to reduce the effect of noise, boundary lines are misdetected. The estimation result of this method deteriorates drastically if the false-detection or misdetection of the boundary line occurs. We propose the new localization method based on the road area detection. First, the road map is extracted from the boundary lines on a 2D map. Next, the road plane image is made by the road area detected using LiDAR in the real world. Finally, the road map and the road plane image are matched by image registration. We confirmed that the proposed method have accurate estimation performance with several noise and low-cost calculation from the simulation. And we conducted the performance validation of proposed method in the real world. As a result, we confirmed the same tendency as simulation results.