Multivehicle Cooperative Driving Using Cooperative Perception: Design and Experimental Validation

In this paper, we present a multivehicle cooperative driving system architecture using cooperative perception along with experimental validation. For this goal, we first propose a multimodal cooperative perception system that provides see-through, lifted-seat, satellite and all-around views to drivers. Using the extended range information from the system, we then realize cooperative driving by a see-through forward collision warning, overtaking/lane-changing assistance, and automated hidden obstacle avoidance. We demonstrate the capabilities and features of our system through real-world experiments using four vehicles on the road.

[1]  Wolfram Burgard,et al.  A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[2]  Edwin Olson,et al.  Real-time correlative scan matching , 2009, 2009 IEEE International Conference on Robotics and Automation.

[3]  Marcelo H. Ang,et al.  Cooperative perception for autonomous vehicle control on the road: Motivation and experimental results , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  J. Little,et al.  Inverse perspective mapping simplifies optical flow computation and obstacle detection , 2004, Biological Cybernetics.

[5]  Emilio Frazzoli,et al.  A general framework for road marking detection and analysis , 2013, 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013).

[6]  Han-Shue Tan,et al.  DGPS-Based Vehicle-to-Vehicle Cooperative Collision Warning: Engineering Feasibility Viewpoints , 2006, IEEE Transactions on Intelligent Transportation Systems.

[7]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[8]  Louis J. Ippolito,et al.  Attenuation by Atmospheric Gases , 1986 .

[9]  J.B. de Sousa,et al.  A control architecture for integrated cooperative cruise control and collision warning systems , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[10]  Wesley H. Huang,et al.  Topological Map Merging , 2005, Int. J. Robotics Res..

[11]  Fawzi Nashashibi,et al.  Multi-vehicle cooperative perception and augmented reality for driver assistance: A possibility to ‘see’ through front vehicle , 2011, 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC).

[12]  Bart van Arem,et al.  The Impact of Cooperative Adaptive Cruise Control on Traffic-Flow Characteristics , 2006, IEEE Transactions on Intelligent Transportation Systems.

[13]  A. von Arnim,et al.  Vehicle Identification Using Near Infrared Vision and Applications to Cooperative Perception , 2007, 2007 IEEE Intelligent Vehicles Symposium.

[14]  Kurt Konolige,et al.  Markov Localization using Correlation , 1999, IJCAI.

[15]  Maria Gini,et al.  Merging partial maps without using odometry , 2005 .

[16]  James R. Bergen,et al.  Visual odometry , 2004, Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004..

[17]  Jose Luis Blanco Claraco.  Development of Scientific Applications with the Mobile Robot Programming Toolkit , 2010 .

[18]  C. Laurgeau,et al.  Fade: a vehicle detection and tracking system featuring monocular color vision and radar data fusion , 2002, Intelligent Vehicle Symposium, 2002. IEEE.

[19]  Brian Yamauchi,et al.  All-weather perception for man-portable robots using ultra-wideband radar , 2010, 2010 IEEE International Conference on Robotics and Automation.

[20]  Morgan Quigley,et al.  ROS: an open-source Robot Operating System , 2009, ICRA 2009.

[21]  Kiyohito Tokuda,et al.  Vehicle control algorithms for cooperative driving with automated vehicles and intervehicle communications , 2002, IEEE Trans. Intell. Transp. Syst..

[22]  Lynne E. Parker,et al.  Multi-Robot Systems. From Swarms to Intelligent Automata Volume III , 2005 .

[23]  Kurt Konolige,et al.  Map merging for distributed robot navigation , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[24]  Thomas Röfer,et al.  Using histogram correlation to create consistent laser scan maps , 2002, IROS.

[25]  Marcelo H. Ang,et al.  Autonomy for mobility on demand , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[26]  Yevgeni Koucheryavy,et al.  Power Control in See-Through Overtaking Assistance System , 2013, IEEE Communications Letters.

[27]  Emilio Frazzoli,et al.  Anytime Motion Planning using the RRT* , 2011, 2011 IEEE International Conference on Robotics and Automation.

[28]  Luca Iocchi,et al.  Scan Matching in the Hough Domain , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[29]  S Kato,et al.  An architecture for cooperative driving of automated vehicles , 2000, ITSC2000. 2000 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.00TH8493).

[30]  Ljubo B. Vlacic,et al.  Cooperative Autonomous Driving at the Intelligent Control Systems Laboratory , 2003, IEEE Intell. Syst..

[31]  Stergios I. Roumeliotis,et al.  3D relative pose estimation from distance-only measurements , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[32]  Emilio Frazzoli,et al.  Multiple vehicle driving control for traffic flow efficiency , 2012, 2012 IEEE Intelligent Vehicles Symposium.

[33]  Seung-Woo Seo,et al.  King's Graph-Based Neighbor-Vehicle Mapping Framework , 2013, IEEE Transactions on Intelligent Transportation Systems.

[34]  Marc Levoy,et al.  Efficient variants of the ICP algorithm , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[35]  Cristina Olaverri-Monreal,et al.  Making Vehicles Transparent Through V2V Video Streaming , 2012, IEEE Transactions on Intelligent Transportation Systems.

[36]  Andreas Birk,et al.  Merging Occupancy Grid Maps From Multiple Robots , 2006, Proceedings of the IEEE.

[37]  O. Mano,et al.  Forward collision warning with a single camera , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[38]  Klaus C. J. Dietmayer,et al.  Analysis of V2X communication parameters for the development of a fusion architecture for cooperative perception systems , 2011, 2011 IEEE Intelligent Vehicles Symposium (IV).

[39]  K.C.J. Dietmayer,et al.  Extending Onboard Sensor Information by Wireless Communication , 2007, 2007 IEEE Intelligent Vehicles Symposium.

[40]  Michael Bosse,et al.  Histogram Matching and Global Initialization for Laser-only SLAM in Large Unstructured Environments , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[41]  Roland Siegwart,et al.  Comparing ICP variants on real-world data sets , 2013, Auton. Robots.

[42]  Evangelos E. Milios,et al.  Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[43]  Cristiano Premebida,et al.  Evaluation of Boosting-SVM and SRM-SVM cascade classifiers in laser and vision-based pedestrian detection , 2011, 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC).

[44]  Luca Delgrossi,et al.  IEEE 802.11p: Towards an International Standard for Wireless Access in Vehicular Environments , 2008, VTC Spring 2008 - IEEE Vehicular Technology Conference.

[45]  Emilio Frazzoli,et al.  Synthetic 2D LIDAR for precise vehicle localization in 3D urban environment , 2013, 2013 IEEE International Conference on Robotics and Automation.

[46]  Gregory Dudek,et al.  Experiments in free-space triangulation using cooperative localization , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[47]  Cristina Olaverri-Monreal,et al.  The See-Through System: A VANET-enabled assistant for overtaking maneuvers , 2010, 2010 IEEE Intelligent Vehicles Symposium.

[48]  Gaurav S. Sukhatme,et al.  Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots , 2000, DARS.

[49]  Gaurav S. Sukhatme,et al.  Putting the 'I' in 'team': an ego-centric approach to cooperative localization , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[50]  K. S. Arun,et al.  Least-Squares Fitting of Two 3-D Point Sets , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[51]  Klaus C. J. Dietmayer,et al.  Car2X-based perception in a high-level fusion architecture for cooperative perception systems , 2012, 2012 IEEE Intelligent Vehicles Symposium.

[52]  P A Hancock,et al.  Alarm effectiveness in driver-centred collision-warning systems. , 1997, Ergonomics.

[53]  Dominique Gruyer,et al.  Cooperative Fusion for Multi-Obstacles Detection With Use of Stereovision and Laser Scanner , 2005, Auton. Robots.

[54]  Rachid Belaroussi,et al.  Vehicle detection and tracking by collaborative fusion between laser scanner and camera , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[55]  Thierry Fraichard,et al.  Fusion between laser and stereo vision data for moving objects tracking in intersection like scenario , 2011, 2011 IEEE Intelligent Vehicles Symposium (IV).

[56]  Massimo Bertozzi,et al.  GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection , 1998, IEEE Trans. Image Process..

[57]  E. Frazzoli,et al.  Utilizing the infrastructure to assist autonomous vehicles in a mobility on demand context , 2012, TENCON 2012 IEEE Region 10 Conference.

[58]  Subir Biswas,et al.  Vehicle-to-vehicle wireless communication protocols for enhancing highway traffic safety , 2006, IEEE Communications Magazine.

[59]  Marcelo H. Ang,et al.  Motion planning using cooperative perception on urban road , 2013, 2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM).

[60]  Michel Parent,et al.  Cooperative autonomous driving: intelligent vehicles sharing city roads , 2005, IEEE Robotics & Automation Magazine.

[61]  Yevgeni Koucheryavy,et al.  An Overtaking Assistance System Based on Joint Beaconing and Real-Time Video Transmission , 2012, IEEE Transactions on Vehicular Technology.

[62]  Emilio Frazzoli,et al.  Curb-intersection feature based Monte Carlo Localization on urban roads , 2012, 2012 IEEE International Conference on Robotics and Automation.

[63]  Aníbal Ollero,et al.  A cooperative perception system for multiple UAVs: Application to automatic detection of forest fires , 2006, J. Field Robotics.

[64]  Gérard G. Medioni,et al.  Object modelling by registration of multiple range images , 1992, Image Vis. Comput..