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We present an active pedestrian protection system that performs an autonomous lane-keeping evasive maneuver in urban traffic scenarios when collision avoidance by braking is no longer possible. The system focuses on pedestrians standing at the curb and intending to cross the street despite an approaching car. It is demonstrated that the evasive maneuver of(More)
This paper analyzes pedestrian gait termination at a public urban intersection. Head-tracks of 183 uninstructed, randomly selected pedestrians are acquired by a wide angle stereo camera setup. Analyses of characteristic velocity patterns, deceleration and step parameters are conducted separately for children, adults and elderly people. Results show that(More)
One focus of current vehicle research is on the development of evasive pedestrian protection systems. Such safety systems avoid an imminent collision with a pedestrian by performing an evasive maneuver autonomously within the lane. For this purpose, a new lateral control scheme is proposed in this paper. The main idea is to ensure a lane-keeping evasive(More)
We present a method to detect starting, stopping and bending in intentions of pedestrians from a moving vehicle based on stereo-vision. The method focuses on urban scenarios where these pedestrian movements are common and may result in critical situations. Pedestrian intentions are determined by means of an image-based motion contour histogram of oriented(More)
Automated driving maneuvers enable a highly reproducible validation of preventive vehicle safety systems. However, the automation of vehicle guidance requires an exact and reliable knowledge of current vehicle position and motion. This paper presents a new method for the real-time estimation of the vehicle position and of further longitudinal and lateral(More)
This paper presents a new nonlinear control scheme for lateral vehicle guidance in combined emergency steering and braking maneuvers. It is based on a vehicle model which considers the nonlinear coupling between the lateral and longitudinal tire forces by means of a friction ellipse. The derived model belongs to the class of nonlinear systems with(More)
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