Cooperative perception for autonomous vehicle control on the road: Motivation and experimental results

In this paper, we attempt to develop a reusable framework of cooperative perception for vehicle control on the road that can extend perception range beyond line-of-sight and beyond field-of-view. For this goal, the following problems are addressed: map merging, vehicle identification, sensor multi-modality, impact of communications, and impact on path planning. We provide experimental results using a self-driving vehicle and manned vehicles equipped with the cooperative perception systems that we propose and implement.

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

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

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

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

[5]  Stergios I. Roumeliotis,et al.  Multi-robot SLAM with Unknown Initial Correspondence: The Robot Rendezvous Case , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Jonathan P. How,et al.  Motion planning for urban driving using RRT , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  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.

[8]  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).

[9]  Hugh F. Durrant-Whyte,et al.  Simultaneous localization and mapping: part I , 2006, IEEE Robotics & Automation Magazine.

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

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

[12]  Seungwoo Seo,et al.  Design Optimization of Vehicle Control Networks , 2011, IEEE Transactions on Vehicular Technology.

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

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

[15]  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).

[16]  Sanjiv Singh,et al.  The DARPA Urban Challenge: Autonomous Vehicles in City Traffic, George Air Force Base, Victorville, California, USA , 2009, The DARPA Urban Challenge.

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