Abstract
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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© 2013 Springer International Publishing Switzerland
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Westenberger, A., Muntzinger, M., Gabb, M., Fritzsche, M., Dietmayer, K. (2013). Time-to-Collision Estimation in Automotive Multi-Sensor Fusion with Delayed Measurements. In: Fischer-Wolfarth, J., Meyer, G. (eds) Advanced Microsystems for Automotive Applications 2013. Lecture Notes in Mobility. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00476-1_2
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DOI: https://doi.org/10.1007/978-3-319-00476-1_2
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