liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Fusing Laser and Radar Data for Enhanced Situation Awareness
Linköping University, Department of Management and Engineering, Fluid and Mechanical Engineering Systems.
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Fusion av laser- och radardata för ökad omvärldsuppfattning (Swedish)
Abstract [en]

With an increasing traffic intensity the demands on vehicular safety is higher than ever before. Active safety systems that have been developed recent years are a response to that. In this master thesis Sensor Fusion is used to combine information from a laser scanner and a microwave radar in order to get more information about the surroundings in front of a vehicle. The Extended Kalman Filter method has been used to fuse the information from the sensors. The process model consists partly of a Constant Turn model to describe the motion of the ego vehicle as well as a tracked object. These individual motions are then put together in a framework for spatial relationships to describe the relationship between them. Two measurement models have been used to describe the two sensors. They have been derived from a general sensor model. This filter approach has been used to estimate the position and orientation of an object relative the ego vehicle. Also velocity, yaw rate and the width of the object have been estimated. The filter has been implemented and simulated in Matlab. The data that has been recorded and used in this work is coming from a scenario where the ego vehicle is following an object in a quite straight line. Where the ego vehicle is a truck and the object is a bus. One important conclusion from this work is that the filter is sensitive to the number of laser beams that hits the object of interest. No qualitative validation has been made though.

Place, publisher, year, edition, pages
2010. , 46 p.
Keyword [en]
Sensor Fusion, Kalman Filter, Laser, Radar
National Category
Signal Processing
URN: urn:nbn:se:liu:diva-57928ISRN: LIU-IEI-TEK-A--10/00850--SEOAI: diva2:331031
2010-06-18, A36, Hus A, Campus Valla, Linköping, 10:15 (Swedish)
Available from: 2010-08-24 Created: 2010-07-07 Last updated: 2011-03-22Bibliographically approved

Open Access in DiVA

fulltext(1007 kB)420 downloads
File information
File name FULLTEXT01.pdfFile size 1007 kBChecksum SHA-512
Type fulltextMimetype application/pdf

By organisation
Fluid and Mechanical Engineering Systems
Signal Processing

Search outside of DiVA

GoogleGoogle Scholar
Total: 420 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 997 hits
ReferencesLink to record
Permanent link

Direct link