Multi-sensor based collision warning system

摘要

The collision warning system presented in this paper is based on multi-sensor fusion methodology. The warning system uses distance measurements from radar, vision and sonar. In the aim for a feasible product, both from a reliability and a costconsideration standpoint, the vision system is built from a single image processing line, using prisms. From the single image, containing a dual angle viewpoint projection of the traffic ahead of the vehicle, the necessary cues are extracted to performdistance estimation. This paper discusses the requirements and objectives for a collision warning system. The hardware setup and the distance control scheme are being investigated, along with a filtering technique for estimating ahead vehicle distance.Simulations are presented to demonstrate the functionality and effectiveness of this system.