A Study of Vehicle State Estimation and Guidance Control by Use of Roadside Laser Range Finder

Abstract

This Study proposes a method of state estimation and guidance-controlling of a vehicle using roadside LRF (Laser Range Finder). The proposed method extracts a vehicle from range points acquired from roadside LRF and estimates the vehicle's state. Moreover, the proposed method calculates vehicle control orders based on state of the vehicle and sends it to the vehicle using radio communication. Experimental results described in this paper show that a vehicle is controlled only by control order from roadside LRF.