An Autonomous Driving System for Unknown Environments using a Unified Map

Category
International Journal
Journal/Conference
IEEE Transactions on Intelligence Transportation Systems (TITS)
Author
Inwook Shim, Jongwon Choi, Seunghak Shin, Tae-Hyun Oh, Unghui Lee, Byungtae Ahn, Dong-Geol Choi, David Hyunchul Shim, In So Kweon
Year
2015
Award
Qualcomm Innovation Award 2013, Youl-Jeong award (5th rank) from the Hyundai Motors Autonomous Vehicle Challenge 2012
tags
TITS
2015
Published
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1/29/2021, 7:01:00 AM
[Abstract]
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Recently, there have been significant advances in self-driving cars, which will play key roles in future intelligent transportation systems. In order for these cars to be successfully deployed on real roads, they must be able to autonomously drive along collision-free paths while obeying traffic laws. In contrast to many existing approaches that use prebuilt maps of roads and traffic signals, we propose algorithms and systems using Unified Map built with various onboard sensors to detect obstacles, other cars, traffic signs, and pedestrians. The proposed map contains not only the information on real obstacles nearby but also traffic signs and pedestrians as virtual obstacles. Using this map, the path planner can efficiently find paths free from collisions while obeying traffic laws. The proposed algorithms were implemented on a commercial vehicle and successfully validated in various environments, including the 2012 Hyundai Autonomous Ground Vehicle Competition.