An on-board Pedestrian Detection and Warning System with Features of Side Pedestrian

摘要

Automotive Active Safety(AAS) is the main branch of intelligence automobile study and pedestrian detection is the key problem of AAS, because it is related with the casualties of most vehicle accidents. For on-board pedestrian detection algorithms, the main problem is to balance efficiency and accuracy to make the on-board system available in real scenes, so an on-board pedestrian detection and warning system with the algorithm considered the features of side pedestrian is proposed.The system includes two modules, pedestrian detecting and warning module. Haar feature and a cascade of stage classifiers trained by Adaboost are first applied, and then HOG feature and SVM classifier are used to refine false positives. To make these time-consuming algorithms available in real-time use, a divide-window method together with operator context scanning(OCS) method are applied to increase efficiency. To merge the velocity information of the automotive, the distance of the detected pedestrian is also obtained, so the system could judge if there is a potential danger for the pedestrian in the front. With a new dataset captured in urban environment with side pedestrians on zebra, the embedded system and its algorithm perform an on-board available result on side pedestrian detection.