Laser-Based Localization and Terrain Mapping for Driver Assistance in a City Bus

摘要

High costs of labor and personnel training in public transport lead to increased interest in the advanced driver assistance systems for city buses. As buses have to execute precise maneuvers when parking in a limited and cluttered environment, they need accurate localization and reliable terrain perception. We present preliminary results of a project aimed at equipping an electric city bus with localization and terrain mapping capabilities. The approach is based on 3-D laser scanners mounted on the bus. Our system provides the bus pose estimate and elevation map to the motion planning algorithm that in turn provides the human driver with steering suggestions through a human-machine interface.