This paper proposes ROS-Based ACC Recognition System and NDT-Localization System using LiDAR Sensor. The platform selected as the sub-controller is ERP-42, which informs the current speed, steering angle, and driving mode of the vehicle. An industrial...
This paper proposes ROS-Based ACC Recognition System and NDT-Localization System using LiDAR Sensor. The platform selected as the sub-controller is ERP-42, which informs the current speed, steering angle, and driving mode of the vehicle. An industrial PC is combined on the vehicle and used as a upper-Level controller. In the upper- Level controller, object detection and localization through LiDAR Sensor are published in the topic form on ROS. The vehicle performs object detection and localization through real-time communication using the corresponding topic. In conclusion, this system enables object detection and localization for ACC with one PC. By developing this study, it will be possible to build a optimized perception system using LiDAR Sensor.