Section: New Results

Perception for Cooperative Driving

Participants : Pierre Bourre, Raoul de Charette, Carlos Flores, Renaud Poncelet, Luis Roldao, Dinh-Van Nguyen.

In the context of multiple autonomous vehicles, sharing the perception of each other allows an enriched perception of the environment. For the PACV2x FUI project, we propose a mix of vision sensors and communication exchanges is used for merging, overtaking, and other risky situations that benefit from multi perception. A speed planning algorithm as well as low level control and lidar data clustering were developed to allow a small fleet of two to three vehicles to handle such scenarios. The vehicles use communication and GPS coordinates to closely follow a planned trajectory.