센서 융합을 이용한 장애물 차량 다중비율 관측기 설계

Abstract

In the case of autonomous vehicles, it is practical to utilize camera and radar to detect front obstacle vehicles. By this we mean that such expensive scanners are hardly adopted in the automotive industry. Vision is also used for sensing road environment. Recent trends in the lane keeping/changing system research are using the vision system to obtain the road information. A multirate sensor fusion scheme is developed to achieve more accurate obstacle detection. The scheme uses a camera and radar is to present obstacle vehicle pose estimation at a fast period of controller.