2021 Fiscal Year Final Research Report
Two-wheel vehicle ITS: Cooperative active safety system using LiDAR-IoT in narrow road environments
| Project/Area Number |
18K04062
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Doshisha University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
佐藤 健哉 同志社大学, 理工学部, 教授 (20388044)
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| Project Period (FY) |
2018-04-01 – 2022-03-31
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| Keywords | ITS / 二輪車 / LiDAR / 協調環境センシング / 環境地図生成・統合・更新 / 移動物体認識 / 予防安全 |
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| Outline of Final Research Achievements |
As a fundamental research to achieve active safety for two-wheeled vehicles in narrow road environments, we have studied (1) individual environmental sensing technology (environmental map building and moving-object recognition) using LiDAR mounted on two-wheeled vehicle, (2) cooperative environmental sensing technology (environmental map merging and update and cooperative moving-object recognition) based on environmental sensing information from own vehicle and surrounding vehicles using IoT technology, and (3) evaluation of the proposed sensing technologies through experiments using experimental platform and simulator.
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| Free Research Field |
ロボティクス，メカトロニクス，ITS，知覚情報処理
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| Academic Significance and Societal Importance of the Research Achievements |
本研究で確立した基礎技術は，二輪車のみならず多様な移動デバイスに活用できることから，社会・産業的な観点からは，ITSのみならず人間共存ロボティクス分野などの予防安全技術シーズ創生，防災・減災・社会インフラ管理ロボティクス分野などの高精度環境地図生成技術シーズ創生にもつながる．また，学術的な観点からは，大きな姿勢変化を伴う状況での低精度の車載センサ情報に基づく環境認識センシング，3次元地図生成・更新の高精度化技術，またそれに伴う情報統合・融合技術に関して新たな知見を提示でき，センシング情報処理分野の進展に寄与することができる．
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