The road environment recognition algorithm using on-vehicle LIDAR (Light Detection and Ranging) is presented. Although with 2-dimensional scanning, high-resolution LIDAR can detect not only the forward vehicle but also the lane markings at the same time, but the LIDAR to ACC system was applied only to vehicle recognition. To pursue the potential of the LIDAR, DENSO has developed the road environment recognition algorithm using only the LIDAR as a forward object detection sensor with compensation of the ego-vehicle motion. As a result, a model-based algorithm was constructed, which could recognize various objects on the absolute coordinate system. The possibility of the coordination with LIDAR and map or GPS for high accuracy navigation is considered. For the covering abstract see ITRD E134653.
Samenvatting