Authors:
Jurij Kuzmic
;
Günter Rudolph
and
Fabian Ostermann
Affiliation:
Department of Computer Science, TU Dortmund University, Otto-Hahn-Str. 14, Dortmund, Germany
Keyword(s):
Emergency Corridor Building, Model Cars, Standing Traffic, Lane Detection, Filtered Canny Edge Detector, Autonomous Driving, Vehicle-to-Vehicle (V2V) Communication, Autonomous Traffic.
Abstract:
This paper introduces an algorithm for forming an emergency corridor on motorways with autonomous vehicles. This algorithm can be used in slow-moving traffic and in standing traffic scenarios. In addition, several autonomous model vehicles were assembled for the experiments in this work in order to test this algorithm in real-world use. Furthermore, a model motorway was constructed that resembles a real three-lane motorway. The Filtered Canny Edge Detector algorithm, also previously published by us, is used to recognise the lanes of the motorway from camera images. Also, in this work, this lane detector is further extended and improved for use with model vehicles in the real environment. Our experiments also show successful emergency lane formations for four different events. Finally, possible future work in this area is presented.