Time-to-Collision Estimation in Automotive Multi-Sensor Fusion with Delayed Measurements

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Time-to-Collision Estimation in Automotive Multi-Sensor Fusion with Delayed Measurements

Westenberger, Antje / Muntzinger, Marc / Gabb, Michael / Fritzsche, Martin / Dietmayer, Klaus

This paper presents a time-to-collision estimation in the context of multi-sensor fusion. Several asynchronous sensors are fused where the measurements arrive at the fusion unit out-of-sequence, i.e., some measurements are temporally more delayed than others. The adequate out-of-sequence handling is crucial for time-critical applications such as pre-crash systems. Several methods are discussed and compared with respect to accuracy and computational costs. In addition, a reduced out-of-sequence algorithm for practical application is derived. The performance of the pre-crash system is evaluated using real-world data from crash tests. To this end, a soft crash target is used with a position ground truth accurate to the centimeter and a contact sensor as temporal ground truth.

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Document information

Title :

Time-to-Collision Estimation in Automotive Multi-Sensor Fusion with Delayed Measurements

Additional title:

Lect.Notes Mobility

Contributors:

Fischer-Wolfarth, Jan (editor) / Meyer, Gereon (editor) / Westenberger, Antje (author) / Muntzinger, Marc (author) / Gabb, Michael (author) / Fritzsche, Martin (author) / Dietmayer, Klaus (author)

Published in:

Advanced Microsystems for Automotive Applications 2013 ; Chapter : 2 ; 13-20

Lecture Notes in Mobility

Publication date :

2013-06-05

Size :

8 pages

ISBN :

978-3-319-00476-1 , 978-3-319-00475-4

ISSN :

2196-5552 , 2196-5544

DOI :