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Classical object tracking approaches use a Kalman-filter with a single dynamic model which is therefore optimised to a single driving maneuver. In contrast the interacting multiple model (IMM) filter allows for several parallel models which are combined to a weighted estimate. Choosing models for different driving modes, such as constant speed, acceleration(More)
The autonomous emergency brake (AEB) is an active safety function for vehicles which aims to reduce the severity of a collision. An AEB performs a full brake when an accident becomes unavoidable. Even if this system cannot, in general, avoid the accident, it reduces the energy of the crash impact and is therefore referred to as a collision mitigation(More)
Accurate maps of the static environment are essential for many advanced driver-assistance systems. A new method for the fast computation of occupancy grid maps with laser range-finders and radar sensors is proposed. The approach utilizes the Graphics Processing Unit to overcome the limitations of classical occupancy grid computation in automotive(More)
A scalable feature-level sensor fusion architecture combining the data of a multi-layer laserscanner and a monocular video has been developed. The approach aims at a maximization of synergetic effects by combining low-level measurement features and at the same time trying to keep the fusion architecture as general as possible. A new concept for the(More)
Robust ego-localization is an essential technology for future intelligent vehicles and cooperative applications. In this paper a new localization algorithm based on IBEO AS Laserscanners and high accuracy digital maps is proposed. Algorithms to create accurate grid maps with Laserscanners and the extraction of static objects used as landmarks for(More)
A system, particularly a decision-making concept, that facilitates highly automated driving on freeways in real traffic is presented. The system is capable of conducting fully automated lane change (LC) maneuvers with no need for driver approval. Due to the application in real traffic, a robust functionality and the general safety of all traffic(More)
The BMW Group Research and Technology has been testing automated vehicles on Germany's highways since Spring 2011. Since then, thousands of kilometers have been driven on the highways around Munich, Germany. Throughout this project, fundamental technologies, such as environment perception, localization, driving strategy and vehicle control, were developed(More)
Volkswagen research has developed a system for vehicle surround perception which integrates different sensor data of the environment into a combined description by using a single model Kalman tracker. This paper deals with the extension of the tracking system by means of an interacting multiple-model algorithm (IMM) to improve the tracking stability during(More)
Future driver assistance systems need to be more robust and reliable because these systems will react to increasingly complex situations. This requires increased performance in environment perception sensors and algorithms for detecting other relevant traffic participants and obstacles. An object's existence probability has proven to be a useful measure for(More)