Track Compensation Algorithm Using Free Space Information with Occupancy Grid Map

Dong Sung Pae, Yoon Suk Jang, Sang Kyoo Park, Myo Taeg Lim

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


Over the past few years, numerous technologies have emerged to enable safe and convenient driving. However, there still exist various problems autonomous vehicles should overcome. Precise detection and perception of surrounding environments are the essential foundations to overcome them. Consequently, many sensor fusion algorithms have been developed to handle more complex situations, with sensor manufacturers also making strenuous efforts to enhance sensor performance. Although Light Detection And Ranging(LiDAR) sensor generally outperforms other sensor types, they remain prohibitively expensive from car manufacturing companies perspective. Therefore, camera and radar sensors have been enhanced, and are starting to provide free space information, similar to LiDAR sensor data and somewhat different from target information they have previously provided. The aim of this paper was to utilize the free space information to improve track information for vehicles. We employ the probability model with two occupancy grid map (OGM) types, which are Bayesian theory and Dempster-Shafer theory based OGMs, to classify free space information states and to efficiently handle free space information. Final output from the proposed algorithm is the target vehicle’s compensated track. Experimental results verify superior performance compared with non-compensated algorithms.

Original languageEnglish
Pages (from-to)40-53
Number of pages14
JournalInternational Journal of Control, Automation and Systems
Issue number1
Publication statusPublished - 2021 Jan

Bibliographical note

Funding Information:
Recommended by Associate Editor Gon-Woo Kim under the direction of Editor Euntai Kim. This research was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (Grant No. NRF-2016R1D1A1B01016071).

Publisher Copyright:
© 2021, ICROS, KIEE and Springer.


  • Free space information
  • occupancy grid map
  • sensor fusion
  • track compensation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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