Otonom Araçlarda Nesne Tespiti, Şerit Tespiti, Haritalama ve Konumlandırmaya Yönelik Sensör Füzyon Tekniklerinin Uygulanması

Year 2024, Volume: 7 Issue: 2, 11 - 21, 26.12.2024

Emre Duman , Kemal Fidanboylu

Abstract

Trafik kazaları çoğunlukla sürücü hatalarından kaynaklanmaktadır. Bu nedenle, otonom araçların bu kazaları önleme potansiyeli sürücünün araç ile olan bağını kestiğinden dolayı çok yüksektir. Otonom araçlar, çevreyi gözlemlemek için çeşitli sensörler kullanırlar ve bu sensörler, çevreyi doğru bir şekilde algılamak ve olası hataları azaltmak için sensör füzyon algoritmalarından yararlanırlar. Kameralar, radarlar, LiDAR'lar, IMU'lar, GPS ve ultrasonik sensörler, otonom araçlarda en yaygın kullanılan sensör türleridir. Bu bildiride, sensör verilerinin ve bunların füzyonuyla birlikte çeşitli filtreleme teknikleri ile iyileştirilmesi hakkında detaylı bilgi verecektir. Bildiride, otonom araçlarda bu teknolojilerin nesne tespiti, konum belirleme ve haritalama gibi işlevlerde nasıl kullanıldığı ve bunların potansiyel uygulamaları veriler eşliğinde görselleştirilmiştir. Ayrıca, 3 cm hata sapma miktarına sahip bir sensörden elde edilen verilerdeki hataların filtrelenmesi sonucunda verilerin gerçek değere %98,33 oranda yakınsadığı bununla birlikte sensör füzyonu tekniği ile de bu gerçek değere yakınsayan verinin %99’dan daha yüksek olduğu, dolayısıyla daha da doğru değerler verdiği gözlemlenmiştir.

Keywords

Otonom Araçlar, Otonom Sürüş, Sensörler, Kamera, Radar, LiDAR, IMU, GPS, Ultrasonik Sensör, Sensör Füzyonu

Ethical Statement

Bu çalışmanın, özgün bir çalışma olduğunu; çalışmanın hazırlık, veri toplama, analiz ve bilgilerin sunumu olmak üzere tüm aşamalarından bilimsel etik ilke ve kurallarına uygun davrandığımı; bu çalışma kapsamında elde edilmeyen tüm veri ve bilgiler için kaynak gösterdiğimi ve bu kaynaklara kaynakçada yer verdiğimi; kullanılan verilerde herhangi bir değişiklik yapmadığımı, çalışmanın Committee on Publication Ethics (COPE)' in tüm şartlarını ve koşullarını kabul ederek etik görev ve sorumluluklara riayet ettiğimi beyan ederim. Herhangi bir zamanda, çalışmayla ilgili yaptığım bu beyana aykırı bir durumun saptanması durumunda, ortaya çıkacak tüm ahlaki ve hukuki sonuçlara razı olduğumu bildiririm.

Project Number

60

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