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Published in:
Introduction to Intelligent Vehicles Read chapter Read first chapter

2012 | OriginalPaper | Chapter

Situational Awareness and Road Prediction for Trajectory Control Applications

Authors : Christian Lundquist, Thomas B. Schön, Fredrik Gustafsson

Published in: Handbook of Intelligent Vehicles

Publisher: Springer London

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Abstract

Situational awareness is of paramount importance in all advanced driver assistance systems. Situational awareness can be split into the tasks of tracking moving vehicles and mapping stationary objects in the immediate surroundings of the vehicle as it moves. This chapter focuses on the map estimation problem. The map is constructed from sensor measurements from radars, lasers and/or cameras, with support from on-board sensors for compensating for the ego-motion.
Four different types of maps are discussed:
(i)
Feature-based maps are represented by a set of salient features, such as tree trunks, corners of buildings, lampposts and traffic signs.
 
(ii)
Road maps make use of the fact that roads are highly structured, since they are built according to clearly specified road construction standards. This allows relatively simple and powerful models of the road to be employed.
 
(iii)
Location-based maps consist of a grid, where the value of each element describes the property of the specific coordinate.
 
(iv)
Finally, intensity-based maps can be considered as a continuous version of the location-based maps.
 
The aim is to provide a self-contained presentation of how these maps can be built from measurements. Real data from Swedish roads are used throughout the chapter to illustrate the methods.

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previous chapter Enhancing Vehicle Positioning Data Through Map-Matching
next chapter Navigation and Tracking of Road-Bound Vehicles Using Map Support
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Metadata
Title
Situational Awareness and Road Prediction for Trajectory Control Applications
Authors
Christian Lundquist
Thomas B. Schön
Fredrik Gustafsson
Copyright Year
2012
Publisher
Springer London
Book
Handbook of Intelligent Vehicles

Print ISBN: 978-0-85729-084-7

Electronic ISBN: 978-0-85729-085-4

Copyright Year: 2012

DOI
https://doi.org/10.1007/978-0-85729-085-4_15

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