Tracking algorithms for pre-crass systems using range-only measurements
- Autores: Jorge Sans Sangorrin
- Directores de la Tesis: José Antonio López Ortí (dir. tes.)
- Lectura: En la Universitat Jaume I ( España ) en 2006
- Idioma: inglés
- Número de páginas: 130
- Tribunal Calificador de la Tesis: Regino Criado Herrero (presid.) , Jorge Mateu Mahiques (secret.) , Alberto Broggi (voc.) , Soren Kammel (voc.) , Francisco Toledo Lobo (voc.)
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- Resumen
This dissertation takes part of current research and development activities aimed to implement future and innovative safety related and advanced driver assistance applications that use vehicle surround sensing systems, In this research, algorithms that compute information to assess whether an accident may happen, i.e. prior to impact, have been developed and implemented, while taking the functional requirements of the applications into account. These algorithms can be used to implement Pre-Crash applications which are aimed to predict crashes, in order to allow activation of vehicle safety measures for reducing damages in road accidents. By making use of information about the vehicle surroundings provided by a sensing system, the approach implemented in this research allows the Pre-Crash system to track objects and perform predictions of crashes at the vehicle front. Impending frontal crashes can be detected and, in such cases, closing-velocity, time-to-impact and impact location estimates are computed. Algorithms have been properly implemented with a round-off to integer, satisfying the restrictions in terms of computational resources. Experiments are carried out in typical scenarios for validation of Pre-Crash applications using a sensing system consisting on two short range radars mounted in the vehicle front. Relevant contributions to internal projects at Robert Bosch GmbH, as well as to European projects with the goal of reducing road fatalities, which is a major concern of the European Commission, have been provided.
