Title :
Dynamic data temporal multisensor fusion in the Prometheus ProLab2 demonstrator
Author :
Rombaut, M. ; Meizel, D.
Author_Institution :
CNRS, Compiegne, France
Abstract :
This paper deals with a temporal multisensor fusion module named Dynamic Data Manager (DDM) developed for the “ProLab 2” demonstrator of the Prometheus European program. It is used in a car, and its goal is to maintain a representation of the dynamic environment needed to inform the driver about possible collisions and risk. The information comes from numerous different perception systems that give asynchronous data. The module is based upon extended Kalman filtering and possibility theory to estimate the current situation, to predict future states and to replace the missing data with a priori estimates based upon a model of the obstacles behaviors
Keywords :
automotive electronics; computerised instrumentation; sensor fusion; Dynamic Data Manager; Prometheus European program; Prometheus ProLab2 demonstrator; asynchronous data; car; dynamic data temporal multisensor fusion; dynamic environment representation; extended Kalman filtering; possibility theory; Data security; Distributed decision making; Filtering; Kalman filters; Power system modeling; Predictive models; Road vehicles; State estimation; Vehicle driving; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351021
