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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Multiple Vehicle Recognition based on Radar and Vision Sensor Fusion for Lane Change Assistance

차선 변경 지원을 위한 레이더 및 비전센서 융합기반 다중 차량 인식

  • Kim, Heong-Tae (Department of mechanical engineering, Ajou University) ;
  • Song, Bongsob (Department of mechanical engineering, Ajou University) ;
  • Lee, Hoon (ADAS recognition development team, Hyundai motor company) ;
  • Jang, Hyungsun (ADAS recognition development team, Hyundai motor company)
  • 김형태 (아주대학교 기계공학과) ;
  • 송봉섭 (아주대학교 기계공학과) ;
  • 이훈 (현대자동차 ADAS 인지기술개발팀) ;
  • 장형선 (현대자동차 ADAS 인지기술개발팀)
  • Received : 2014.11.15
  • Accepted : 2014.12.30
  • Published : 2015.02.01
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Abstract

This paper presents a multiple vehicle recognition algorithm based on radar and vision sensor fusion for lane change assistance. To determine whether the lane change is possible, it is necessary to recognize not only a primary vehicle which is located in-lane, but also other adjacent vehicles in the left and/or right lanes. With the given sensor configuration, two challenging problems are considered. One is that the guardrail detected by the front radar might be recognized as a left or right vehicle due to its genetic characteristics. This problem can be solved by a guardrail recognition algorithm based on motion and shape attributes. The other problem is that the recognition of rear vehicles in the left or right lanes might be wrong, especially on curved roads due to the low accuracy of the lateral position measured by rear radars, as well as due to a lack of knowledge of road curvature in the backward direction. In order to solve this problem, it is proposed that the road curvature measured by the front vision sensor is used to derive the road curvature toward the rear direction. Finally, the proposed algorithm for multiple vehicle recognition is validated via field test data on real roads.

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