Proceedings ArticleDOI
A collision mitigation system using laser scanner and stereovision fusion and its assessment
Raphaël Labayrade,C. Royere,Didier Aubert +2 more
- pp 441-446
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TLDR
A collision mitigation system to decrease the kinetic energy of the collision through automatic emergency braking that occurs 1 second before the collision, which shows the reliability, the genericity and the efficiency of the system.Abstract:
Road traffic incidents analysis has shown that 52% of them are caused by a collision between two vehicles or between a vehicle and an obstacle. In this paper, a collision mitigation system is proposed and evaluated towards various typical road situations. The aim of the system is to decrease the kinetic energy of the collision through automatic emergency braking that occurs 1 second before the collision. This emergency braking is triggered by an alarm coming from a decision unit taking into consideration the results of a generic obstacles detection system -based on fusion between stereovision and laser scanner- and a warning area in front of the vehicle. The different sub-systems are presented. Various typical dangerous road situations are then introduced. The behavior of the collision mitigation system towards these situations is presented through real tests carried out in the context of the ARCOS French project. These experiments show the reliability, the genericity and the efficiency of the system. In particular, the false alarm rate is low, the detection rate is high and the system proves to be reactive.read more
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References
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GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
Massimo Bertozzi,Alberto Broggi +1 more
TL;DR: The generic obstacle and lane detection system (GOLD), a stereo vision-based hardware and software architecture to be used on moving vehicles to increment road safety, allows to detect both generic obstacles and the lane position in a structured environment at a rate of 10 Hz.
Proceedings ArticleDOI
Real time obstacle detection in stereovision on non flat road geometry through "v-disparity" representation
TL;DR: The construction of the "v-disparity" image, its main properties, and the obstacle detection method, which is able to cope with uphill and downhill gradients and dynamic pitching of the vehicle, are explained.
Journal ArticleDOI
Cooperative Fusion for Multi-Obstacles Detection With Use of Stereovision and Laser Scanner
TL;DR: A new cooperative fusion approach between stereovision and laser scanner is proposed in order to take advantage of the best features and cope with the drawbacks of these two sensors to perform robust, accurate and real time-detection of multi-obstacles in the automotive context.
Proceedings ArticleDOI
Multi-target detection and tracking with a laser scanner
TL;DR: The goal is to design a collision avoidance algorithm to integrate a Cybercar vehicle, which uses the computed time-to-collision for each moving obstacle validated by the DATMO system.
Proceedings ArticleDOI
Fade: a vehicle detection and tracking system featuring monocular color vision and radar data fusion
TL;DR: Fade is a vehicle detection and tracking system featuring monocular color vision and radar data fusion and generates a belief network organized in three layers: sources, position proposals, and correlation between proposals.