A Road Environment Prediction System for Intelligent Vehicle - Details

Author：

Ma, Chao (Ma, Chao.) | Sun, Zhao (Sun, Zhao.) | Pei, Shanshan (Pei, Shanshan.) | Liu, Chao (Liu, Chao.) (Scholars：刘超) | Cui, Feng (Cui, Feng.)

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Abstract：

The　road　environment　prediction　is　an　essential　task　for　intelligent　vehicle.　In　this　study,　we　provide　a　flexible　system　that　focuses　on　freespace　detection　and　road　environment　prediction　to　host　vehicle.　The　hardware　of　this　system　includes　two　parts:　a　binocular　camera　and　a　low-power　mobile　platform,　which　is　flexible　and　portable　for　a　variety　of　intelligent　vehicle.　We　put　forward　a　multiscale　stereo　matching　algorithm　to　reduce　the　computing　cost　of　the　hardware　unit.　Based　on　disparity　space　and　points　cloud,　we　propose　a　weighted　probability　grid　map　to　detect　freespace　region　and　a　state　model　to　describe　the　road　environment.　The　experiments　show　that　the　proposed　system　is　accurate　and　robust,　which　indicates　that　this　technique　is　fully　competent　for　road　environment　prediction　for　intelligent　vehicle.　©　2021　Chao　Ma　et　al.

Keyword：

Roads and streets Road vehicles Intelligent vehicle highway systems Forecasting

Author Community：

[ 1 ] [Ma, Chao]Faculty of Information Technology, Macau University of Science and Technology, 999078, China
[ 2 ] [Sun, Zhao]Faculty of Information Technology, Macau University of Science and Technology, 999078, China
[ 3 ] [Pei, Shanshan]Faculty of Information Technology, Macau University of Science and Technology, 999078, China
[ 4 ] [Liu, Chao]Research Base of Beijing Modern Manufacturing Development, Beijing University of Technology, Beijing; 100124, China
[ 5 ] [Cui, Feng]Beijing Smarter Eye Technology Co.Ltd, Beijing; 100023, China