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Christian Lundquist ([email protected])2009.01.09
Fusion av sensordata fr trafikskerhet
Christian Lundquist
Christian Lundquist ([email protected])2009.01.09
Ph.D. Students and Partners
Ph.D. Students:
Fredrik Bengtsson
Lars Danielsson
Malin Lundgren
Christian Lundquist
Industrial Partners:
AB Volvo
IVSS
SEFS
Sensor Fusion for Safety
AB Volvo
2005 2006 2007 2008 2009
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Christian Lundquist ([email protected])2009.01.09
SEFS Technical Objectives
Observation of objectsDetect objectEstimate parameters
Observation of road / lanesEstimate curvature / offset
Ego vehicleEstimate parameters
Fuse Sensor data of environment
Real-time implementation
high availability
high reliability
Christian Lundquist ([email protected])2009.01.09
Sensor Fusion
Dynamic model
Sensor model
State estimation
Sensors Sensor Fusion Applications
.. ..
Dynamic models
Sensors modelsState Estimation Filter
Surrounding Infrastructure
Sensor fusion is the process of using information from several
differentsensors to compute an estimate of the state of a dynamic
system.
State estimate
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Christian Lundquist ([email protected])2009.01.09
Background - Sensor fusion
Common situation,to be changed New situation, is coming
Sensor
Sensor
Sensor
Sensor
Sensor Fusion Application
Application
Application
Application
Sensor
Sensor
Sensor
Sensor
Application
Application
Application
Christian Lundquist ([email protected])2009.01.09
Automotive Sensors
Internal sensors Gyros Accelerometers Wheel speed sensors
Steering wheel sensor
External object sensors Radar Lidar Vision Ultrasonic
Other GPS with safety enhance map data Car2Car &
Car2Infrastructure
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Christian Lundquist ([email protected])2009.01.09
SEFS Demonstrators
Christian Lundquist ([email protected])2009.01.09
Sensor Fusion An Example
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Christian Lundquist ([email protected])2009.01.09
Sensor Fusion An Exampleradar
object
Christian Lundquist ([email protected])2009.01.09
Sensor Fusion An Exampleradar
object
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Christian Lundquist ([email protected])2009.01.09
camera
Sensor Fusion An Exampleradar
object
Christian Lundquist ([email protected])2009.01.09
Sensor Fusion An Example
camera
radar
object
road
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Christian Lundquist ([email protected])2009.01.09
Sensor Fusion An Example
camera
radar
object
road
object
Christian Lundquist ([email protected])2009.01.09
Sensor Fusion An Example
camera
radar
object
road
Sensor Fusion
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Christian Lundquist ([email protected])2009.01.09
Sensor Fusion An Exampleobject
road
Sensor Fusion
radar
IMU
camera
Christian Lundquist ([email protected])2009.01.09
Sensor Fusion Summary
+++-Classification
++-+Range rate
+++-Angle
++-+Range
Fused systemVisionRadarRequirement
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Christian Lundquist ([email protected])2009.01.09
Dynamic and Sensor Model
In a fusion system are two statistical models are needed:
Dynamic model:
Sensor model:
State estimation
Sensors
Sensor Fusion
Estimates
Inertial sensors
Camera
Radar
Wheel speed
Steering angle
Dynamic model
Sensor model
