Accurate RoadGeometry Estimation foraSafe SpeedApplication
Hendrik Weigel, Aristomenis Polychronopoulost, Ricerche Fiat · 2006
InEurope, aconsiderable partoflives lost intraffic accidents isduetoinappropriate vehicle speedorheadway. Excessive speedisoneofthemajorcausesofaccidents on European roads, responsible forone-third ofallroadaccidents. SASPENCE,aspartoftheEU foundedintegrated project PReVENT,isdeveloping andevaluating aninnovative system abletoperform thereliable andcomfortable SafeSpeedand SafeDistance concept, whichhelps thedriver toavoid dangerous situations related toexcessive speedortoosmallheadway. Inthispaper, thehighprecise reconstruction oftheroad geometry isdiscussed. Thisinformation abouttheroadgeometry isneeded intheproject tobeabletocalculate theriskofagiven scenario andgiven speed. A sensor fusion methodisproposed tocombineinformation froma vision sensor, a radarsystem, digital maps,aGPSsensor andodometric sensors toonecommon description oftheroadgeometry infront ofthevehicle. Thereby, thesensor information isusedtolocalize theownvehicle relative tothemapdata. Thesystem hasbeentested using realdataand theresults areshowninthepaper.