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.
Time-to-Collision Estimation in Automotive Multi-Sensor Fusion with Delayed Measurements
Lect.Notes Mobility
2013-06-05
8 pages
Article/Chapter (Book)
Electronic Resource
English