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However, most researches focus on obstacle detection, obstacle warning is not well studied.
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When the obstacle detection equipment detects a vehicle (obstacle) in the path ahead of the driver's vehicle, the turning radius of the driver's vehicle (calculated based on the values from the yaw rate sensor and steering angle sensor) is used to estimate the position of the preceding vehicle after the next radar scan.
This data is then processed and analyzed by an obstacle detection module to detect any obstacles in front of the user.
The detection agent (Det:AGT) obtains video stream utilizing video:SRV service and starts detecting obstacles through the obstacle detection service, Detc SRV.
Once the obstacle detected is avoided, the steering agent informs the obstacle detection agent that the obstacle is avoided and the navigation agent directs the steering agent to continue to follow a straight path.
From Lyapunov-stability analysis, it is shown that all signals of the controlled closed-loop system are semiglobally uniformly ultimately bounded, point tracking errors converge to an adjustable neighborhood of the origin outside the obstacle detection region, and the obstacle avoidance is guaranteed inside the region.
Specifically, we address obstacle detection as an anomaly detection problem.
"Obstacle detection" explains the obstacle detection proposed.
Obstacle avoidance technology needs to address two issues: obstacle detection and obstacle warning.
The proposed system is composed of two modules: obstacle detection and obstacle warning (see Fig. 1).
We continue our research direction on tongue display unit [14, 15] and build a complete system from obstacle detection to obstacle warning.
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