Ralph Grewe

Towards a generic and efficient environment model for ADAS

In research projects for future ADAS functions a dense environment model covering free space is often necessary, which is obtained by complementing or replacing a common object list by a grid based environment model. The drawbacks of grid based models are their demands for memory, computational resources and bandwidth. This paper analyzes the influence of data compression on accuracy and resource demand of a grid. By using a simple compression scheme the transmission bandwidth and the required computational resources can be significantly reduced.

Evaluation method and results for the accuracy of an automotive occupancy grid

This paper presents an evaluation method for the accuracy of automotive occupancy grids and results for the influence of the discretization and pose estimation of a radar based grid mapping algorithm. An automotive centric review of evaluation methods and map quality measures developed for robotic applications is given. Based on the results of the review, an extensible toolset to create ground truth maps and to compare them against automotive grid maps using different map quality measurements is proposed. Several map quality measures are compared and the best performing method to evaluate the accuracy of a radar based occupancy grid mapping algorithm is chosen.

A high-level road model information fusion framework and its application to multi-lane speed limit inference

We propose a high-level road model information fusion framework to combine regulatory traffic elements, e.g. traffic signs, with lane geometry and digital map information for robust inference of lane-specific traffic rules. In this process, special care is given to adequately consider incomplete, uncertain, and inconsistent information sources with i) spatial, ii) existence, and iii) attribute uncertainties. First, Bayesian networks are employed for logical lane assignment of traffic elements under incorporation of traffic regulation knowledge and soft position relation evidences. The position relations are estimated via Monte Carlo simulations by taking spatial lane geometry and existence uncertainties into account. Second, Dempster-Shafer theory is used not only for fusing simultaneously detected traffic signs based on a novel belief mass transfer over adjacent lanes to recover from false sign classifications but also for traffic situation-dependent, lane-specific fusion of digital map attributes with sensor-inferred attributes. The framework is applied to the task of multi-lane speed limit inference, which gives lane-specific speed limit information in form of belief mass functions and runs in real-time on an experimental vehicle.

Umfeldmodelle – standardisierte Schnittstellen für Assistenzsysteme

Einer der Kernbestandteile von Fahrerassistenzsystemen ist die genaue und echtzeitfahige Abbildung der Fahrzeugumgebung, das sogenannte Umfeldmodell. Es dient als Datenbasis fur die Algorithmen zur Situationsanalyse und Regelung. Hier gilt es, die enormen Datenmengen in den Griff zu bekommen und Standardschnittstellen zu schaffen. Continental zeigt Losungen auf.