Time-to-Collision Estimation in Automotive Multi-Sensor Fusion with Delayed Measurements [chapter]

Antje Westenberger, Marc Muntzinger, Michael Gabb, Martin Fritzsche, Klaus Dietmayer
2013 Lecture Notes in Mobility  
This paper presents a time-to-collision estimation in the context of multi-sensor fusion. Several asynchronous sensors are fused where the measurements arrive at the fusion unit out-of-sequence, i.e., some measurements are temporally more delayed than others. The adequate out-of-sequence handling is crucial for time-critical applications such as pre-crash systems. Several methods are discussed and compared with respect to accuracy and computational costs. In addition, a reduced out-of-sequence
more » ... ed out-of-sequence algorithm for practical application is derived. The performance of the pre-crash system is evaluated using real-world data from crash tests. To this end, a soft crash target is used with a position ground truth accurate to the centimeter and a contact sensor as temporal ground truth.
doi:10.1007/978-3-319-00476-1_2 fatcat:b6xbgn5kbvaejjdrnhsm77rkme