Effective World Modeling: Multisensor Data Fusion Methodology for Automated Driving

Jos Elfring, Rein Appeldoorn, Sjoerd van den Dries, Maurice Kwakkernaat
2016 Sensors  
Elfring, J.; Appeldoorn, R.P.W.; van den Dries, S.; Kwakkernaat, M.R.J.A.E. Abstract: The number of perception sensors on automated vehicles increases due to the increasing number of advanced driver assistance system functions and their increasing complexity. Furthermore, fail-safe systems require redundancy, thereby increasing the number of sensors even further. A one-size-fits-all multisensor data fusion architecture is not realistic due to the enormous diversity in vehicles, sensors and
more » ... cations. As an alternative, this work presents a methodology that can be used to effectively come up with an implementation to build a consistent model of a vehicle's surroundings. The methodology is accompanied by a software architecture. This combination minimizes the effort required to update the multisensor data fusion system whenever sensors or applications are added or replaced. A series of real-world experiments involving different sensors and algorithms demonstrates the methodology and the software architecture.
doi:10.3390/s16101668 pmid:27727171 pmcid:PMC5087456 fatcat:6bmajh7uczfjxos5efweuh7dea