Road Environment Recognition Using On-vehicle LIDAR

In this paper, we present the road environment recognition algorithm using on-vehicle LIDAR. Although our 2-dimensional scanning and high-resolution LIDAR can detect the forward vehicle, other objects and the lane mark at the same time, we have only applied the LIDAR to ACC system by recognizing only vehicles. To pursue the potential of the LIDAR, DENSO has developed the road environment recognition algorithm using only the LIDAR as a forward object detection sensor with compensation of the ego-vehicle motion. As a result, we constructed a model-based algorithm, which could recognize various objects on the absolute coordinate system. Moreover we show the possibility of the coordination with LIDAR and map or GPS for high accurate navigation.