The usage of various sensors in one vehicle has basically two reasons. First, with respect to the ergonomically integration of the sensor in the vehicle it is not possible to have a circumferential visibility with only one sensor. Every sensor possesses a bounded observe angle and measuring range. The placement of various sensors on different positions in the vehicle can add up to an almost circumferential perception in different ranges. Second, each sensor has a unique measuring principle and measures with a specific wavelength. As a result there are different measurement parameters from each sensor. Due to numerous tests it can be pointed out that each measuring principle does not work well in certain situations. This leads to faulty environmental perception if one sensor for the purpose will be applied. Meanwhile the other sensors provide in the same situation more proper measuring parameters so that there can be collective an overall better environmental perception by using an appropriate sensor fusion method. The fact that the sensors measure in physically different frequency domains (wavelengths) offers different physical views to the scene and enriches interpretation potential. This paper deals with environmental perception for automobile application using miscellaneous sensors. In this perspective the following question is frequently asked. Does a system with a higher number of sensors result in a more reliable perception? Only if an appropriate sensor data fusion method is used, the answer can be positive. As first step an overview of the commonly used fusion methods will be presented. Based on this knowledge a new sensor fusion approach using occupancy grid and fuzzy logic will be developed and introduced.
A sensor fusion approach based on occupancy grid and fuzzy logic
Ein Verfahren zur Sensorzusammenführung unter Verwendung eines Besetzungsnetzwerks und der Fuzzy-Logik
2008
5 Seiten, 4 Bilder, 10 Quellen
Conference paper
English
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