Autonomous driving at Ulm University: A modular, robust, and sensor-independent fusion approach | IEEE Conference Publication | IEEE Xplore

Autonomous driving at Ulm University: A modular, robust, and sensor-independent fusion approach


Abstract:

The project “Autonomous Driving” at Ulm University aims at advancing highly-automated driving with close-to-market sensors while ensuring easy exchangeability of the part...Show More

Abstract:

The project “Autonomous Driving” at Ulm University aims at advancing highly-automated driving with close-to-market sensors while ensuring easy exchangeability of the particular components. In this contribution, the experimental vehicle that was realized during the project is presented along with its software modules. To achieve the mentioned goals, a sophisticated fusion approach for robust environment perception is essential. Apart from the necessary motion planning algorithms, this paper thus focuses on the sensor-independent fusion scheme. It allows for an efficient sensor replacement and realizes redundancy by using probabilistic and generic interfaces. Redundancy is ensured by utilizing multiple sensors of different types in crucial modules like grid mapping, localization and tracking. Furthermore, the combination of the module outputs to a consistent environment model is achieved by employing their probabilistic representation. The performance of the vehicle is discussed using the experience from numerous autonomous driving tests on public roads.
Date of Conference: 28 June 2015 - 01 July 2015
Date Added to IEEE Xplore: 27 August 2015
ISBN Information:
Print ISSN: 1931-0587
Conference Location: Seoul, Korea (South)

References

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