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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    Titel :

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


    Weitere Titelangaben:

    Lect.Notes Mobility


    Beteiligte:
    Fischer-Wolfarth, Jan (Herausgeber:in) / Meyer, Gereon (Herausgeber:in) / Westenberger, Antje (Autor:in) / Muntzinger, Marc (Autor:in) / Gabb, Michael (Autor:in) / Fritzsche, Martin (Autor:in) / Dietmayer, Klaus (Autor:in)


    Erscheinungsdatum :

    2013-06-05


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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