외삽법을 이용한 저가형 거리측정 레이저센서의 측정보상

초록

Automated vehicle systems have been widely utilized in the field of factories and port logistics (e.g., AGV: automated guided vehicle) in addition to passengers’ transport (e.g., PRT: personal rapid transit). An obstacle avoidance system is dedicated to prevent the collisions with forward obstacles during autonomous operation, which is essential for safe operation of intelligent vehicle systems. Typically, various optical devices such as radars or laser scanners have been used to collect and process the visual information around a vehicle. However, one of the major impediments in practical implementation for commercial use is the difficulties in finding the cost effective product of high performance enough to meet users’ requirements. In this study, the low cost laser scanner-based signal processing algorithm is presented to detect the distance to the forward object. To achieve this goal, the extrapolation technique was used to estimate the unknown values on the basis of original data measured at a given constant sampling frequency. The acquisition of additional data beyond original measurements can be effectively regarded as an increase in the sampling rate. The accuracy of the predicted values was validated through experimental measurements at higher sampling rates than the frequency used to obtain the original data. It is expected that this approach can contribute to enhance the safety and economic feasibility of fully automated or driving-assisted vehicles.