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首页> 外文会议>2012 15th International IEEE Conference on Intelligent Transportation Systems. >A generic map based environment representation for driver assistance systems applied to detect convoy tracks
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A generic map based environment representation for driver assistance systems applied to detect convoy tracks

机译：用于驾驶员辅助系统的基于通用地图的环境表示，用于检测车队轨迹

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摘要

Future Advanced Driver Assistance Systems (ADAS) require generic map based representations to process environment information measured by different sensors. In contrast to today's widespread grid based maps, such environment representations have to be a compact, scalable and easy-to-interpret. In order to fulfill these requirements, we propose a new generic map representation, the two dimensional interval map. One example of information that can be represented in this data structure are convoy tracks. Convoy tracks describe the common motion of vehicles driving in convoys. These tracks can serve as an additional, independent input parameter for longitudinal and lateral control in highly automated ADAS. Experimental results show the general ability of the new data structure to provide sufficiently precise results at low computation time and memory consumption. The developed methodology to detect convoy tracks is capable of extracting multiple common convoy attributes even in complex scenarios with lane change maneuvers.
机译：未来的高级驾驶员辅助系统（ADAS）需要基于通用地图的表示形式来处理由不同传感器测量的环境信息。与当今广泛使用的基于网格的地图相反，此类环境表示必须紧凑，可伸缩且易于解释。为了满足这些要求，我们提出了一种新的通用地图表示形式，即二维间隔图。可以在此数据结构中表示的信息的一个示例是车队跟踪。车队轨迹描述了车队中车辆行驶的共同运动。这些轨迹可以用作高度自动化的ADAS中纵向和横向控制的附加独立输入参数。实验结果表明，新数据结构具有在低计算时间和内存消耗下提供足够精确结果的一般能力。即使在复杂的情况下（带有变道操纵），检测车队轨迹的已开发方法也能够提取多个常见的车队属性。

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