| A DATA FUSION MODEL FOR MILLIMETER-WAVE RADAR AND
VISION SENSOR IN ADVANCED DRIVING ASSISTANCE SYSTEM |
Yang Liu1,2, Yan Liu3
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1Tsinghua University
2UISEE (Shanghai) Automotive Technology Co., Ltd.
3Nanchang Univer |
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| ABSTRACT |
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The Advanced Driving Assistance System has been widely applied on various kinds of vehicles, since it can
provide timely protection and burden relief to the passengers and drivers. Multiple different sensors are adopted to realize
specific functions, while millimeter-wave radar and vision sensor are one of the most common sensor combinations. The
scheme of sensor data fusion for this combination becomes necessary to contribute with more accurate and complementary
detection results. A data fusion model designed for the pair of radar and vision is proposed with a three-level hierarchical
structure, which includes screening of original sensor data, sensor data correlation, and target track forecast. The concrete
fusion scheme applied on each layer is presented in details. The results of simulation and real circumstances test validate and
prove the presented sensor data fusion model is efficient. |
| Key Words:
Data fusion, Advanced driving assistance system, Radar, Vision, Tendency for |
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Corresponding Author.
Yan Liu , Email. 
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