Development of an emergency braking system for teleoperated vehicles based on lidar sensor data

Johannes Wallner, Tito Tang, Markus Lienkamp

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

A lidar-based approach of an emergency braking system for teleoperated vehicles is presented. Despite the time delay for the communication link of a teleoperated system, the vehicle has to be able to react to emerging objects in time. Starting with intelligent sensor dataprocessing, reliable information is computed. An adapted particle filter algorithm tracks moving points to calculate their mean velocity, used for the prediction of surrounding moving objects. Further, in order to interpret this information, a situation assessment based on an intervention concept derived from Kamm's circle is implemented. A motion prediction of possible trajectories of the ego-vehicle results in a clear decision-making process. All calculations are made at the raw data level and can be done online. Through artificial objects being included in real sensor data, the methodology was validated.

Original languageEnglish
Title of host publicationICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
EditorsJoaquim Filipe, Joaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek
PublisherSciTePress
Pages569-576
Number of pages8
ISBN (Electronic)9789897580406
DOIs
StatePublished - 2014
Event11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014 - Vienna, Austria
Duration: 1 Sep 20143 Sep 2014

Publication series

NameICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
Volume2

Conference

Conference11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014
Country/TerritoryAustria
CityVienna
Period1/09/143/09/14

Keywords

  • Emergency Braking System
  • Lidar Sensor Raw Data
  • Motion Prediction
  • Particle Filter
  • Teleoperated Vehicles

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