This paper presents the TerraMax autonomous vehicle, which competed in the DARPA Urban Challenge 2007. The sensing system is mainly based on passive sensors, in particular four vision subsystems are used to cover a 360deg area around the vehicle, and to cope with the problems related to complex traffic scenes navigation. A trinocular system derived from the one used during the 2005 Grand Challenge performs obstacle and lane detection, twin stereo systems (one in the front and one in the back) monitor the area close to the truck, two lateral cameras detect oncoming vehicles at intersections, and a rear view system monitors the lanes next to the truck looking for overtaking vehicles. Data fusion between laser scanners and vision will be discussed, focusing on the benefits of this approach.

The Passive Sensing Suite of the TerraMax Autonomous Vehicle

GHIDONI, STEFANO;
2008

Abstract

This paper presents the TerraMax autonomous vehicle, which competed in the DARPA Urban Challenge 2007. The sensing system is mainly based on passive sensors, in particular four vision subsystems are used to cover a 360deg area around the vehicle, and to cope with the problems related to complex traffic scenes navigation. A trinocular system derived from the one used during the 2005 Grand Challenge performs obstacle and lane detection, twin stereo systems (one in the front and one in the back) monitor the area close to the truck, two lateral cameras detect oncoming vehicles at intersections, and a rear view system monitors the lanes next to the truck looking for overtaking vehicles. Data fusion between laser scanners and vision will be discussed, focusing on the benefits of this approach.
2008
Procs. IEEE Intelligent Vehicles Symposium 2008
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11577/2757704
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 19
  • ???jsp.display-item.citation.isi??? 0
social impact