Enhancing Perception in Robot-Guided Vehicle Tests: A Rapid Long-Range Obstacle Detector

D. Hermann, C. Wei, C. Marina Martínez, G. Hinz, A. Knoll

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

Abstract

The importance of accurate and efficient vehicle testing on proving grounds continues to grow, which makes automation a key solution to meet this growing demand. Robot-guided vehicles enable precise and reproducible execution of complex tests without a driver. In dynamic driving test scenarios, the ability to perceive obstacles at long distances plays a crucial role in ensuring the safety of both the test vehicle and individuals on the proving ground. To enable automated testing with robot-guided vehicles, Rapid and Long-Range Detection (RLD) algorithms need to be developed for on-board implementation. This paper presents a novel point cloud-based detector for LiDAR (Light Detection And Ranging) sensors that utilizes trajectory data and robot-guided vehicle information to achieve long-range obstacle detection with minimal latency. Our detector excels in computational efficiency, making it suitable for low-performance hardware. In various experiments, we demonstrate the performance of our detector in recognizing obstacles during highly dynamic driving maneuvers. Our method contributes significantly to the further development of automated vehicle testing and paves the way for safer and more efficient driving systems on proving grounds.

Original languageEnglish
Title of host publicationProceedings - 2023 17th IEEE International Conference on Robotic Computing, IRC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages305-313
Number of pages9
ISBN (Electronic)9798350395747
DOIs
StatePublished - 2023
Event17th IEEE International Conference on Robotic Computing, IRC 2023 - Laguna Hills, United States
Duration: 11 Dec 202313 Dec 2023

Publication series

NameProceedings - 2023 17th IEEE International Conference on Robotic Computing, IRC 2023

Conference

Conference17th IEEE International Conference on Robotic Computing, IRC 2023
Country/TerritoryUnited States
CityLaguna Hills
Period11/12/2313/12/23

Keywords

  • DBSCAN
  • LiDAR
  • automated vehicle testing
  • detection
  • dynamic driving
  • proving ground
  • robot-guided vehicles

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