Situation Awareness for Intelligent Mobility in Dynamic Environments IRT Nanoelec Perfect Platform

Julia Chartre 1 Lukas Rummelhard 1 Amaury Nègre 2, 1 Jean-Alix David 1 Jérôme Lussereau 1 Christian Laugier 1
1 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
Inria Grenoble - Rhône-Alpes, CITI - CITI Centre of Innovation in Telecommunications and Integration of services
2 GIPSA-Services - GIPSA-Services
GIPSA-lab - Grenoble Images Parole Signal Automatique
Abstract : In the field of mobile robotics and intelligent vehicles, a key requirement for basic functionalities, such as collision awareness systems, is the ability to perceive and model a relevant representation of the environment where objects are moving. This crucial task is a challenging step in terms of accuracy, complexity and uncertainty management. The objective of this paper is to describe the multi-sensor Bayesian perception approach which has been developed by Inria 1 in the scope IRT Nanoelec 2 , implemented and tested on the IRT experimental platform including an equipped Renault Zoe vehicle. These systems can be adapted to off road environments such as agriculture fields or construction area where workers lives are jeopardized by heavy moving machineries. Embedded multi-sensor Bayesian perception algorithms have been developed on several experimental hardware in cooperation with CEA 3. For the purpose of computing accurate representation of the dynamic environment, these systems have been implemented on our intelligent vehicle, as well as on portable connected perception units. Shared perception have been implemented using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication protocols. Experimental results are presented and discussed in the paper.
Keywords : GPU Computing Perception Bayesian Filtering Sensor Fusion Dynamic Occupancy Grid Risk Assessment Intelligent Vehicle V2X
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Communication dans un congrès
5th International conference on Machine Control & Guidance, Oct 2016, Vichy, France
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Julia Chartre, Lukas Rummelhard, Amaury Nègre, Jean-Alix David, Jérôme Lussereau, et al.. Situation Awareness for Intelligent Mobility in Dynamic Environments IRT Nanoelec Perfect Platform. 5th International conference on Machine Control & Guidance, Oct 2016, Vichy, France. 〈hal-01393287〉

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