2_Advance_driver_assistance_system.pdf
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1FUSION OF LASERSCANNER AND VIDEO
FOR ADVANCED DRIVER ASSISTANCE SYSTEMS
Nico Kaempchen, Klaus C.J. Dietmayer
University of Ulm, Department of
Measurement, Control and Microtechnology
Albert-Einstein-Allee 41, D-89081 Ulm, Germany
Tel: +49 731 50 26326 - Fax: +49 731 50 26301
E-mail: {Nico.Kaempchen, Klaus.Dietmayer}@e-technik.uni-ulm.de
ABSTRACT
In established driver assistance systems each application relies on its own sensor, which
observes the vehicles environment. Advanced driver assistance systems (ADAS) have
increasing demand for several sensor systems. The described Laserscanner and video based
sensor fusion approach serves as a general platform for multiple active safety and comfort
applications. A large field of view is obtained and the certainty and precision of the estimates
in the relevant regions is increased significantly. Vehicle position measurements and
classification, lane estimation as well as pedestrian recognition enable a broad support for
applications such as Lane Departure Warning, Automatic Emergency Breaking, PreCrash,
Pedestrian Protection, ACC StopGo and Low Speed Following.
INTRODUCTION
Recent projects on driver assistance systems have focused on applications such as PreCrash
(Chameleon) [1], ACC StopGo (Carsense) [2] and recognition of vulnerable road users
(PROTECTOR). These advanced driver assistant systems (ADAS) have increasing demand
for several sensor systems, which are mainly complementary but also redundant. Some
research has therefore been focused on multi-sensor fusion [2,3,4,5,6]. The aim of such a step
is to provide a fused description of the traffic scene surrounding the vehicle, which is relevant
for ADAS, but not specific to a certain application. This fusion system incorporates the data
of diverse sensors into a single description. Thus the field of view of a single sensor is
enlarged, the certainty and precision of the estimates is increased and additionally this system
design is economically efficient, as different ap
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