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The Effect of Process Models on Short-term Prediction of Moving Objects for Autonomous Driving

Madhavan Raj ; Schlenoff Craig

International Journal of Control, 2005, Automation, and Systems, 3(4), , pp.509-523

제어·로봇·시스템학회

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  • Título:
    The Effect of Process Models on Short-term Prediction of Moving Objects for Autonomous Driving
  • Autor: Madhavan Raj ; Schlenoff Craig
  • Assuntos: 제어계측공학
  • É parte de: International Journal of Control, 2005, Automation, and Systems, 3(4), , pp.509-523
  • Notas: KISTI1.1003/JNL.JAKO200509409862510
    G704-000903.2005.3.4.011
  • Descrição: We are developing a novel framework, PRIDE (PRediction In Dynamic Environments), to perform moving object prediction (MOP) for autonomous ground vehicles. The underlying concept is based upon a multi-resolutional, hierarchical approach which incorporates multiple prediction algorithms into a single, unifying framework. The lower levels of the framework utilize estimation-theoretic short-term predictions while the upper levels utilize a probabilistic prediction approach based on situation recognition with an underlying cost model. The estimation-theoretic short-term prediction is via an extended Kalman filter-based algorithm using sensor data to predict the future location of moving objects with an associated confidence measure. The proposed estimation-theoretic approach does not incorporate a priori knowledge such as road networks and traffic signage and assumes uninfluenced constant trajectory and is thus suited for short-term prediction in both on-road and off-road driving. In this article, we analyze the complementary role played by vehicle kinematic models in such short-term prediction of moving objects. In particular, the importance of vehicle process models and their effect on predicting the positions and orientations of moving objects for autonomous ground vehicle navigation are examined. We present results using field data obtained from different autonomous ground vehicles operating in outdoor environments.
  • Editor: 제어·로봇·시스템학회
  • Idioma: Coreano
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  • Realização: ABCD-USP USP   Logos de Redes Sociais: Freepik

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