Occupancy Grid Map Formation and Fusion in Cooperative Autonomous Vehicle Sensing (Invited Paper)

Yuru Li, Dongliang Duan, Chen Chen, Xiang Cheng, Liuqing Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

In autonomous driving, sensing is the most fundamental task providing the necessary information for intelligent vehicles. Compared with single-vehicle sensing, cooperative sensing can greatly reduce the cost, increase the accuracy and overcome the vision range limit. In this paper, a cooperative sensing framework is proposed based upon the occupancy grid map. For map formation, we investigate four occupancy probability distribution algorithms to transform the sensor data into a probability model; for map fusion, we design a probability fusion method to combine multi-vehicle maps. Simulations show that the proposed probability distribution algorithms can capture the environment information with different focuses and the map fusion process can expand the vehicles' sensing range and improve the accuracy.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Communication Systems, ICCS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages204-209
Number of pages6
ISBN (Electronic)9781538678640
DOIs
StatePublished - Jul 2 2018
Externally publishedYes
Event16th IEEE International Conference on Communication Systems, ICCS 2018 - Chengdu, China
Duration: Dec 19 2018Dec 21 2018

Publication series

Name2018 IEEE International Conference on Communication Systems, ICCS 2018

Conference

Conference16th IEEE International Conference on Communication Systems, ICCS 2018
Country/TerritoryChina
CityChengdu
Period12/19/1812/21/18

Bibliographical note

Funding Information:
This work was in part supported by the National Natural Science Foundation of China under Grants 61622101 and 61571020, the National Science and Technology Major Project under Grant 2018ZX03001031, and the Major Project from Beijing Municipal Science and Technology Commission under Grant Z181100003218007.

Publisher Copyright:
© 2018 IEEE.

Keywords

  • Autonomous vehicle
  • cooperative sensing
  • map fusion
  • occupancy probability distribution

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