财团法人车辆研究测试中心.PDFVIP

A Path Planning Achievement of Car Following in Motion Control via LiDAR Sensing Chan Wei Hsu, Tsung Hua Hsu, Chun Hsiung Chen and Yung Yuan Kuo Automotive Research Testing Center Changhua, Taiwan 505 E-mail: winsonhsu@.tw Abstract—This paper presents a new car following system to highway systems (AHS), in which fully automated vehicles track a preceding car and maintain a desired safe distance based are operated on special highway lanes with support from the on a laser imaging, detection, and ranging (LiDAR) sensor. The infrastructure in 1960s. In the AHS area, the operation of proposed system has the ability of lane change, including vehicles in a group with a small headway, called as platooning, longitudinal and lateral control. To accomplish the car following was proposed for maximizing the highway capacity and sensing task, environment information provided by in-vehicle Lidar and monocular vision is used. A camera is an auxiliary passenger safety. But every vehicle needed to have three device to map Lidar data into the output image and verify the magnetometers mounted beneath the front and rear bumpers, detection ability of LiDAR. The LiDAR and camera sensors are and the markers were installed every 1.4 meters by surveying installed on a demonstrated vehicle, and the LiDAR sensor which the location, drilling a hole, placing the magnets [3]. has