Sensor Fusion of Stereo Vision and Radar Systems for Vehicle Collision Avoidance
Date Issued
2015
Date
2015
Author(s)
Weng, Li-Kang
Abstract
Active vehicle safety system is aimed to enhance the safety of driving and reduce the accidents. When the dangerous situation was detected, the system would warn the user by graphical user interface to pay attention. If the user failed to response, the brake system would swing into action for preventing an accident. In this study, an intermediate-level obstacle-detection-based sensor-fusion vehicle safety system was proposed using stereo vision rig and radar. Stereo vision was composed of two cameras with color and depth information. The depth information estimated by stereo vision algorithm was projected onto the top-view. Obstacles were filtered out using blob method and 3D geometric constraints. High accuracy range information such as position and speed was provided by radar; however, there was no color information from radar. Stereo vision and radar were fused at detection-based sensor fusion in order to acquire more realistic information. After obstacle detection, Kalman filter was implemented for obstacle tracking. The motion model of obstacles was estimated between the data sequences. The pre-collision warning system was processed continuously to detect the obstacles with potential danger. When the obstacle performed sudden braking maneuver or popped out from side…etc, the obstacle avoidance system would warn the user and was prepared to take brake in preventing collision and plan a safe path for user to follow. A* algorithm was implemented to plan a safer path for user as a reference. After experimental validation, the active vehicle safety system was applied to real-time environment surveillance system in the school street.
Subjects
Active vehicle safety
stereo vision
radar
sensor fusion
obstacle detection
obstacle tracking
collision avoidance system
Type
thesis
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