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Proceedings Paper

Driving in traffic: short-range sensing for urban collision avoidance
Author(s): Chuck E. Thorpe; David F. Duggins; Jay W. Gowdy; Rob MacLaughlin; Christoph Mertz; Mel Siegel; Arne Suppe; Chieh-Chih Wang; Teruko Yata
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Paper Abstract

Intelligent vehicles are beginning to appear on the market, but so far their sensing and warning functions only work on the open road. Functions such as runoff-road warning or adaptive cruise control are designed for the uncluttered environments of open highways. We are working on the much more difficult problem of sensing and driver interfaces for driving in urban areas. We need to sense cars and pedestrians and curbs and fire plugs and bicycles and lamp posts; we need to predict the paths of our own vehicle and of other moving objects; and we need to decide when to issue alerts or warnings to both the driver of our own vehicle and (potentially) to nearby pedestrians. No single sensor is currently able to detect and track all relevant objects. We are working with radar, ladar, stereo vision, and a novel light-stripe range sensor. We have installed a subset of these sensors on a city bus, driving through the streets of Pittsburgh on its normal runs. We are using different kinds of data fusion for different subsets of sensors, plus a coordinating framework for mapping objects at an abstract level.

Paper Details

Date Published: 17 July 2002
PDF: 5 pages
Proc. SPIE 4715, Unmanned Ground Vehicle Technology IV, (17 July 2002); doi: 10.1117/12.474450
Show Author Affiliations
Chuck E. Thorpe, Carnegie Mellon Univ. (United States)
David F. Duggins, Carnegie Mellon Univ. (United States)
Jay W. Gowdy, Carnegie Mellon Univ. (United States)
Rob MacLaughlin, Carnegie Mellon Univ. (United States)
Christoph Mertz, Carnegie Mellon Univ. (United States)
Mel Siegel, Carnegie Mellon Univ. (United States)
Arne Suppe, Carnegie Mellon Univ. (United States)
Chieh-Chih Wang, Carnegie Mellon University Robotics Institute (United States)
Teruko Yata, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 4715:
Unmanned Ground Vehicle Technology IV
Grant R. Gerhart; Chuck M. Shoemaker; Douglas W. Gage, Editor(s)

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