TY - JOUR
T1 - Autonomous Emergency Braking of a Heavy Road Vehicle Using a Low-Density Flash Lidar
AU - Kumar, Vimal
AU - Subramanian, Shankar C.
AU - Rajamani, Rajesh
N1 - Publisher Copyright:
© 1967-2012 IEEE.
PY - 2024/2/1
Y1 - 2024/2/1
N2 - This article presents solutions to challenges in using a low-density flash lidar for application to a heavy road vehicle Autonomous Emergency Braking (AEB) system. Low-density flash lidars are relatively new to the commercial market and are much less expensive compared to point-cloud lidars. However, due to their low angular resolution, it becomes challenging to use the information provided by them for applications such as the AEB. Specifically, the challenges in identifying relevant targets and determining target width are discussed in this article, and solutions to the same are presented. Later, an AEB algorithm is developed for a heavy commercial road vehicle for demonstrating the usefulness of the proposed solutions. The AEB system is experimentally evaluated using a brake Hardware-in-loop system along with IPG TruckMaker, and the results are presented.
AB - This article presents solutions to challenges in using a low-density flash lidar for application to a heavy road vehicle Autonomous Emergency Braking (AEB) system. Low-density flash lidars are relatively new to the commercial market and are much less expensive compared to point-cloud lidars. However, due to their low angular resolution, it becomes challenging to use the information provided by them for applications such as the AEB. Specifically, the challenges in identifying relevant targets and determining target width are discussed in this article, and solutions to the same are presented. Later, an AEB algorithm is developed for a heavy commercial road vehicle for demonstrating the usefulness of the proposed solutions. The AEB system is experimentally evaluated using a brake Hardware-in-loop system along with IPG TruckMaker, and the results are presented.
KW - Autonomous emergency braking
KW - flash lidar
KW - hardware-in-loop
KW - heavy commercial road vehicles
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U2 - 10.1109/TVT.2023.3314534
DO - 10.1109/TVT.2023.3314534
M3 - Article
AN - SCOPUS:85171571471
SN - 0018-9545
VL - 73
SP - 1879
EP - 1889
JO - IEEE Transactions on Vehicular Technology
JF - IEEE Transactions on Vehicular Technology
IS - 2
ER -