Safe and Automatic Driving System of a Personal Intelligent Vehicle by Cooperation with a Small Unmanned Vehicle
Abstract
We are conducting a research project of a personal intelligent vehicle called AT (Attentive Townvehicle). AT has a function of automatic driving to the destination that its passenger specified.During automatic driving, it is difficult for AT to avoid moving obstacles that are approaching AT from dead areas of AT's sensors. Therefore, we solved the problem by extending sensing areas of AT based on a Small Unmanned Vehicle (SUV). SUV can search for places where there are some dead areas of AT on the way to its destination. SUV autonomously moves to the places and probes circumstances around there as a substitute of AT. Based on the above the mechanism, We developed a method of automatic safe transportation and evaluated its underlying techniques.
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Fugure1: Configuration of AT
Fugure2: Information of obstacles detected by range sensor
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Fugure3: Configuration of SUV
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4.1
Fugure4: Example of occupancy grid map
4.2
Fugure5: Distance between initial location and current location
Fugure6: Trajectories of “with localization” and “without localization”
4.3
Fugure7: Obstacles on the map and the boundaries
Fugure8: Graph structure data annotated on the map and example route
4.4
Fugure9: Target areas of autonomous run of SUV
Fugure10: Errors of distance between destination and stopped location
Fugure11: Result of the experiment of autonomous run
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5.1
Fugure12: Algorithm of detection of cautious-running areas
Fugure13: Detected cautious-running areas
5.2
Fugure14: Example of the route and the correct data
Fugure15: Example of the route and the detected results
Fugure16: Accuracy of detection of cautious-running areas
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6.1
Fugure17: Expanded sensing area of AT using SUV
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6.3
Fugure18: Accuracy of detection of moving obstacle
Fugure19: Distance to obstacles detected by range sensor
Fugure20: Distance to obstacles detected by Kinect
6.4
Fugure21: SUV stopped at a cautious-running area and AT’s display at the time
Fugure22: Detection of a moving obstacle by SUV