Bernd Lichte

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With the “Stadtpilot”-Project the Technische Universit ät Braunschweig transfers the knowledge gained from its participation in the DARPA Urban Challenge Event to the real urban environment of Braunschweig's inner ring road. The goal is to drive fully autonomously in the traffic flow and to behave according to traffic rules. On October(More)
Environmental perception is a prerequisite for autonomous driving and also a challenging task particularly in cluttered dynamic environments such as complex urban situations. In this paper, we present a robust algorithm for Multi-Target Tracking (MTT) using a Velodyne 3D HDL-64 Lidar sensor. The main contribution of this paper is a practical framework for(More)
For future advanced driver assistant systems a detailed knowledge about the road network in the immediate surroundings rises in importance for several reasons. It increases the robustness of scene interpretation especially in urban environments on the one hand, on the other hand it can be used for map-matching approaches to ensure a lane-accurate matching(More)
The perception of moving objects in urban environments poses new challenges for sensors and tracking algorithms. Tracking algorithms must estimate the movement of a great number of objects simultaneously while taking into account longitudinal and crossing, as well as turning traffic. In this process, the early recognition and stable tracking of a turning(More)
In this paper, an approach for motion classification for laser sensors is presented concentrating on urban environments. In these complex environments the algorithm has to match both cross traffic and structures in parallel to the road, as well as objects starting and stopping moving. The requirements on sensors and algorithms for handling urban traffic are(More)
In this paper an approach for a consistency-based motion classification for laser sensors is presented which concentrates on urban environments. In these complex environments the algorithm has to match both cross traffic and structures in parallel to the road, as well as objects starting and stopping moving. This leads to a conflict to be solved. For a(More)
Driver assistance systems are commonly available in many vehicles. There are systems for safety functions like the Electronic Stability Control, Automatic Traction Control, Anti-lock Brake System and automatic emergency braking. There are also systems for comfort functions like adaptive cruise control with stop and go functionality and combined safety and(More)
This paper presents a probabilistic fault detection and handling algorithm (PFDH) for redundant and deterministic X-by-wire systems. The algorithm is specifically designed to guarantee safe operation of an experimental drive-by-wire vehicle used as test platform and development tool in research projects focusing on vehicle dynamics. The required flexibility(More)
Autonomous driving in urban environments is potentially dangerous since a malfunction of vehicle guidance systems can lead to severe situations for passengers inside the autonomous vehicle and other road users. Therefore both, monitoring the current system operation state by a surveillance system, which is able to detect failures of software and hardware(More)
The perception of moving objects in urban environments poses new challenges for sensors and tracking algorithms. Tracking algorithms must estimate the movement of a great number of objects simultaneously while taking longitudinal, crossing, as well as turning traffic into account. In this process, the early recognition and stable tracking of a turning(More)