LIDAR-Based road signs detection For Vehicle Localization in an HD Map

International audienceSelf-vehicle localization is one of the fundamental tasks for autonomous driving. Most of current techniques for global positioning are based on the use of GNSS (Global Navigation Satellite Systems). However, these solutions do not provide a localization accuracy that is better than 2-3 m in open sky environments [1]. Alternatively, the use of maps has been widely investigated for localization since maps can be pre-built very accurately. State of the art approaches often use dense maps or feature maps for localization. In this paper, we propose a road sign perception system for vehicle localization within a third party map. This is challenging since third party maps are usually provided with sparse geometric features which make the localization task more difficult in comparison to dense maps. The proposed approach extends the work in [2] where a localization system based on lane markings has been developed. Experiments have been conducted on a Highway-like test track using GNSS/INS with RTK corrections as ground truth (GT). Error evaluations are given as cross-track and along-track errors defined in the curvilinear coordinates [3] related to the map

LIDAR-Based High Reflective Landmarks (HRL)s For Vehicle Localization in an HD Map

International audienceAccurate localization is very important to ensure performance and safety of autonomous vehicles. In particular, with the appearance of High Definition (HD) sparse geometric road maps, many research works have been focusing on the deployment of accurate localization systems in a previously built map. In this paper, we solve a localization problem by matching road perceptions from a 3D LIDAR sensor with HD map elements. The perception system detects High Reflective Landmarks (HRL) such as: lane markings, road signs and guard rail reflectors (GRR) from a 3D point cloud. A particle filtering algorithm estimates the position of the vehicle by matching observed HRLs with HD map attributes. The proposed approach extends our work in [1] and [2] where a localization system based on lane markings and road signs has been developed. Experiments have been conducted on a highway-like test track using GNSS/INS with RTK corrections as a ground truth (GT). Error evaluations are given as cross-track (CT) and along-track (AT) errors defined in the curvilinear coordinates [3] related to the map. The obtained accuracies of our localization system is 18 cm for the cross-track error and 32 cm for the along-track error

LIDAR-Based Lane Marking Detection For Vehicle Positioning in an HD Map

International audienceAccurate self-vehicle localization is an important task for autonomous driving and ADAS. Current GNSS-basedsolutions do not provide better than 2-3 m in open-sky environments. Moreover, map-based localization using HDmaps became an interesting source of information for intelligent vehicles. In this paper, a Map-based localization using a multi-layer LIDAR is proposed. Our method mainly relies on road lane markings and an HD map to achieve lane-level accuracy.At first, road points are segmented by analysing the geometric structure of each returned layer points. Secondly, thanks toLIDAR reflectivity data, road marking points are projected onto a 2D image and then detected using Hough Transform.Detected lane markings are then matched to our HD map using Particle Filter (PF) framework. Experiments are conducted on aHighway-like test track using GPS/INS with RTK correction as ground truth. Our method is capable of providing a lane-levellocalization with a 22 cm cross-track accuracy

Conception d'antennes reconfigurables pour radars automobiles à 77 GHz (application à la sécurité active)

L'augmentation des exigences en matière de sécurité dans l'automobile impose des scénarii routiers complexes et variés impliquant des performances de détection élevées des radars automobiles d'assistance, associées à des contraintes de compacité et de faible coût. Ainsi, le système antennaire doit être le plus agile possible pour satisfaire les attentes des générations futures en termes de champs de vision, précision en angle, vitesse, distance etc... Le travail de cette thèse porte sur la conception d'antennes reconfigurables pour les radars automobiles à 77 GHz et leurs applications à la sécurité active. Après identification des futurs besoins, nous avons effectué une étude bibliographique précise et critique des solutions antennaires possibles ; nous sommes ainsi parvenus à établir une matrice de choix prenant en compte de nombreux critères (performances, coûts, maturité technologique...). Notre choix s'est finalement arrêté sur les antennes à ondes de fuite. Plusieurs solutions ont été étudiées et une solution originale a été identifiée. Cette dernière a été pré-dimensionnée d'abord en 2D et ensuite simulée en 3D pour aboutir à une conception précise. Une solution permettant le balayage du faisceau à fréquence fixe a également été proposée. L'influence de l'environnement proche de l'antenne a enfin été étudiée et les résultats numériques ont été validés expérimentalement à 77 GHz par la fabrication d'un prototype.As the number of road crashes keeps on increasing, safety has become a key differentiator in the automotive industry. Future generations of automotive radars are required to resolve complex vehicular traffic scenarios while satisfying a difficult balance between high-performance and low cost. The antenna concept must allow a high degree of flexibility to meet the expectations in terms of field of view, range / velocity / angle measurements... The main objective of this thesis is the design of reconfigurable antennas for automotive radars at 77 GHz. Following the definition of the future requirements on bothsystem and antenna levels, we conducted a detailed state-of-art review of the possible solutions. Hence,we established three matrices of choices that take into account several criteria such as performance, cost, maturity of the technology. Our choice fell on designing fixed-frequency reconfigurable leaky-wave antennas. Based on this concept, several solutions have been studied and an original solution has been identified. The latter has been pre-designed in 2D then simulated and optimized in 3D. A fixed-frequency beam-steering solution has also been proposed. Finally, an antenna prototype has beencharacterized, fabricated and measured to validate the numerical results at 77 GHz.RENNES1-BU Sciences Philo (352382102) / SudocSudocFranceF

LIDAR-Based road signs detection For Vehicle Localization in an HD Map

International audienceSelf-vehicle localization is one of the fundamental tasks for autonomous driving. Most of current techniques for global positioning are based on the use of GNSS (Global Navigation Satellite Systems). However, these solutions do not provide a localization accuracy that is better than 2-3 m in open sky environments [1]. Alternatively, the use of maps has been widely investigated for localization since maps can be pre-built very accurately. State of the art approaches often use dense maps or feature maps for localization. In this paper, we propose a road sign perception system for vehicle localization within a third party map. This is challenging since third party maps are usually provided with sparse geometric features which make the localization task more difficult in comparison to dense maps. The proposed approach extends the work in [2] where a localization system based on lane markings has been developed. Experiments have been conducted on a Highway-like test track using GNSS/INS with RTK corrections as ground truth (GT). Error evaluations are given as cross-track and along-track errors defined in the curvilinear coordinates [3] related to the map

LIDAR-Based High Reflective Landmarks (HRL)s For Vehicle Localization in an HD Map

International audienceAccurate localization is very important to ensure performance and safety of autonomous vehicles. In particular, with the appearance of High Definition (HD) sparse geometric road maps, many research works have been focusing on the deployment of accurate localization systems in a previously built map. In this paper, we solve a localization problem by matching road perceptions from a 3D LIDAR sensor with HD map elements. The perception system detects High Reflective Landmarks (HRL) such as: lane markings, road signs and guard rail reflectors (GRR) from a 3D point cloud. A particle filtering algorithm estimates the position of the vehicle by matching observed HRLs with HD map attributes. The proposed approach extends our work in [1] and [2] where a localization system based on lane markings and road signs has been developed. Experiments have been conducted on a highway-like test track using GNSS/INS with RTK corrections as a ground truth (GT). Error evaluations are given as cross-track (CT) and along-track (AT) errors defined in the curvilinear coordinates [3] related to the map. The obtained accuracies of our localization system is 18 cm for the cross-track error and 32 cm for the along-track error

Plate-forme de simulation globale pour radar ACC

International audiencePlate-forme de simulation globale pour radar AC

Antenne à onde de fuite à balayage angulaire à fréquence fixe à77GHz

National audienc

77GHz ACC radar simulation platform

International audienc

Antenne à ondes de fuite à balayage angulaireà fréquence fixe à 77GHz

Ce papier décrit la conception et la simulation d'une antenne à ondes de fuite à balayage de faisceau à fréquence fixe (77 GHz). Le mode dominant HE11 se propageant dans le barreau diélectrique est perturbé par couplage par des perturbations gravées sur un substrat de silicium, induisant ainsi un rayonnement dans le plan azimutal. La variation de l'angle de dépointage est validée en considérant différentes périodes de perturbation. L’antenne a été étudiée, optimisée et lancée en fabrication. Ses spécifications ont été définies pour l’assistance au freinage d’urgence à 77 GHz.QC 20111213TUMES