Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Radar and Vision Sensor Fusion for Primary Vehicle Detection

레이더와 비전센서 융합을 통한 전방 차량 인식 알고리즘 개발

  • 양승한 (아주대학교 기계공학부) ;
  • 송봉섭 (아주대학교 기계공학부) ;
  • 엄재용 (현대자동차 전자개발센터)
  • Received : 2010.03.15
  • Accepted : 2010.04.30
  • Published : 2010.07.01
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Abstract

This paper presents the sensor fusion algorithm that recognizes a primary vehicle by fusing radar and monocular vision data. In general, most of commercial radars may lose tracking of the primary vehicle, i.e., the closest preceding vehicle in the same lane, when it stops or goes with other preceding vehicles in the adjacent lane with similar velocity and range. In order to improve the performance degradation of radar, vehicle detection information from vision sensor and path prediction predicted by ego vehicle sensors will be combined for target classification. Then, the target classification will work with probabilistic association filters to track a primary vehicle. Finally the performance of the proposed sensor fusion algorithm is validated using field test data on highway.

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References

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