Citation

Polychronopoulos A, Tsogas M, Amditis AJ, Andreone L. IEEE Trans. Intel. Transp. Syst. 2007; 8(3): 549-562.

Copyright

(Copyright © 2007, IEEE (Institute of Electrical and Electronics Engineers))

DOI

unavailable

PMID

unavailable

Abstract

This paper discusses sensor fusion for collision warning (CW) that uses a hierarchical-structured algorithm in order to provide path prediction for the ego-vehicle in such situations. The sensor fusion combines traffic environment data with car dynamics. The output space of the projected path in the researcher?s system is three-dimensional and it was shown that the system estimates a 3-4 second lead in the path with an accuracy of up to 50 centimeters. Both vehicle data and road boundaries (RB) data are compared with motion models and road boundaries models, respectively. The two sets of data that have been turned into route predictions are then fused using a priori knowledge models as well as online situation models. Real-world data and various traffic situations are presented as verification for the presented algorithmic models.