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도로 환경에서 자율주행을 위한 독립 관찰자 기반 주행 상황 인지 방법
노삼열(Samyeul Noh),한우용(Woo-Yong Han) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.2
This paper proposes a situation awareness method based on data fusion and independent objects for autonomous driving in on-road environment. The proposed method, designed to achieve an accurate analysis of driving situations in on-road environment, executes preprocessing tasks that include coordinate transformations, data filtering, and data fusion and independent object based situation assessment to evaluate the collision risks of driving situations and calculate a desired velocity. The method was implemented in an open-source robot operating system called ROS and tested on a closed road with other vehicles. It performed successfully in several scenarios similar to a real road environment.