Change search
ReferencesLink to record
Permanent link

Direct link
Vision and Radar Sensor Fusion for Advanced Driver Assistance Systems
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2013 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesisAlternative title
Vision och Radar Sensorfusion för Avancerade Förarassistanssystem (Swedish)
Abstract [en]

The World Health Organization predicts that by the year 2030, road traffic injuries will be one of the top five leading causes of death. Many of these deaths and injuries can be prevented by driving cars properly equipped with state-of-the-art safety and driver assistance systems. Some examples are auto-brake and auto-collision avoidance which are becoming more and more popular on the market today. A recent study by a Swedish insurance company has shown that on roadswith speeds up to 50 km/h an auto-brake system can reduce personal injuries by up to 64 percent. In fact in an estimated 40 percent of crashes, the auto-brake reduced the effects to the degree that no personal injury was sustained.

It is imperative that these so called Advanced Driver Assistance Systems, to be really effective, have good situational awareness. It is important that they have adequate information of the vehicle’s immediate surroundings. Where are other cars, pedestrians or motorcycles relative to our own vehicle? How fast are they driving and in which lane? How is our own vehicle driving? Are there objects in the way of our own vehicle’s intended path? These and many more questions can be answered by a properly designed system for situational awareness.

In this thesis we design and evaluate, both quantitatively and qualitatively, sensor fusion algorithms for multi-target tracking. We use a combination of camera and radar information to perform fusion and find relevant objects in a cluttered environment. The combination of these two sensors is very interesting because of their complementary attributes. The radar system has high range resolution but poor bearing resolution. The camera system on the other hand has a very high bearing resolution. This is very promising, with the potential to substantially increase the accuracy of the tracking system compared to just using one of the two. We have also designed algorithms for path prediction and a first threat awareness logic which are both qualitively evaluated.

Place, publisher, year, edition, pages
2013. , 76 p.
Keyword [en]
automotive, sensor fusion, radar, vision, camera, target tracking, EKF, tracking evaluation, OSPA, path prediction, ADAS, car
National Category
Signal Processing
URN: urn:nbn:se:liu:diva-94222ISRN: LiTH-ISY-EX--13/4685--SEOAI: diva2:630503
External cooperation
Autoliv Electronics AB
Subject / course
Automatic Control
2013-06-13, Systemet, B-huset, Linköping, 09:13 (Swedish)
Available from: 2013-06-19 Created: 2013-06-19 Last updated: 2013-06-20Bibliographically approved

Open Access in DiVA

fulltext(4357 kB)1293 downloads
File information
File name FULLTEXT01.pdfFile size 4357 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Andersson Naesseth, Christian
By organisation
Automatic ControlThe Institute of Technology
Signal Processing

Search outside of DiVA

GoogleGoogle Scholar
Total: 1293 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 1378 hits
ReferencesLink to record
Permanent link

Direct link