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Low-Cost Curb Detection and Localization System Using Multiple Ultrasonic Sensors.

Joon Hyo Rhee1,2, Jiwon Seo3,4

  • 1School of Integrated Technology, College of Engineering, Yonsei University, 85 Songdogwahak-ro, Yeonsu-gu, Incheon 21983, Korea. jnhyo@yonsei.ac.kr.

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Summary
This summary is machine-generated.

This study introduces a low-cost curb detection system for autonomous vehicles using ultrasonic sensors. The novel algorithms achieve high accuracy and reliability, making advanced driver-assistance systems more accessible.

Keywords:
autonomous vehiclecurb detectioncurb localizationenvironmental recognitionultrasonic sensor array

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Area of Science:

  • Robotics and Autonomous Systems
  • Sensor Fusion
  • Computer Vision

Background:

  • Curb detection is crucial for autonomous vehicle navigation and safety.
  • Existing systems often rely on expensive lidar sensors.
  • There is a need for cost-effective curb detection solutions.

Purpose of the Study:

  • To develop a practical and low-cost curb detection and localization system for autonomous vehicles.
  • To overcome the limitations of individual ultrasonic sensors through novel processing algorithms.
  • To enhance the safety and environmental recognition capabilities of autonomous vehicles.

Main Methods:

  • Utilized multiple ultrasonic sensors as a cost-effective alternative to lidar.
  • Developed a ground reflection elimination filter.
  • Implemented measurement reliability calculation and distance estimation algorithms.
  • Conducted field tests under various curb scenarios.

Main Results:

  • Achieved 92.08% availability with three ultrasonic sensors in challenging scenarios.
  • Attained 96.04% availability and 13.50 cm accuracy (RMSE) with four ultrasonic sensors.
  • Demonstrated significantly higher reliability compared to conventional methods.

Conclusions:

  • The proposed system offers a practical and affordable solution for curb detection.
  • The novel algorithms effectively enhance the performance of ultrasonic sensors.
  • This technology can improve the safety and functionality of commercial autonomous vehicles.