THMR-V: an effective and robust high-speed system in structured road

摘要

Many systems have been developed which can drive autonomously in structured road, but little works have been reported that describe the specific system solution in a high-speed (more than 120 km/h) situation. This paper presents THMR-V (Tsinghua mobile robot V), a system that performs well with a speed up to 150 km/h. Multi-region and bi-threshold edge extraction is used for image processing and an ATN-based approach is used for lane line location.