This paper describes a pedestrian collision warning system with crosswalk detection feature based on sensor fusion of a monocular camera and a millimeter wave radar. The method to decide about the presence of a pedestrian is based on the assumption that objects moving along a crosswalk can be interpreted as pedestrians under certain circumstances. The advantage of the described solution is its robustness and effectiveness since it is limited to crosswalks. The camera can be used to detect the crosswalk. Data from both sensors can then be used to infer about the presence of a pedestrian. The sensor fusion algorithm which combines data from the sensors is explained. Then the paper describes a warning concept which provides auditory alarm and visual information about the presence of a crosswalk as well as pedestrians to a driver, depending on the estimated collision probability. Finally, test drives on an experimental vehicle are presented and the results verify that the proposed warning system is running in practice.
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