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Michael Aeberhard - Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

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Michael Aeberhard

Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

Reihe: Verkehrstechnik/Fahrzeugtechnik

Band 804 2017

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Sensor Data Fusion Architectures S. 27-45

„… , consisting of three levels of sensor data processing: sensor-level, fusion-level and application-level. The …” „… proposed architecture is organized into three levels of sensor data processing: sensorlevel, fusion-level …” „… fusion of a small group of sensors. 2.2.3 Fusion-Level At the fusion-level of the proposed sensor data …”

State and Covariance S. 64-92

„… and fusion-level are described. 4.1 Sensor-Level Processing with Tracking Algorithms In a high-level …” „… association between objects at the fusion-level in a high-level sensor data fusion architecture is covered in …” „… asynchronous and multi-sensor configuration is the sequence of the sensor data at the fusion-level. Each sensor …”

Conclusion and Discussion S. 152-154

„… improve these driver assistance systems. Sensor data fusion will become a key aspect in future ADAS and …” „… realize more complex and intelligent behaviors of the vehicle. This thesis proposed a sensor data fusion …” „… and presented a novel high-level sensor data fusion architecture which was developed within this …”

Fusion Strategy and Object Association S. 46-63

„… method of processing sensor-level object data at the fusion-level is to use a sensorto-global fusion …” „… maintained over time at the fusion-level. An example of a sensor-to-global fusion strategy with two sensors …” „… maintained over time at the fusion-level, data from the previous fusion is not lost when new sensor data …”

Synchronous Track-to-Track Fusion Algorithms S. 155-161

„… due to common information history, these algorithms use a sensor-to-sensor fusion strategy. If the …” „… sensors are asynchronous, they are temporally aligned for the sensor-to-sensor fusion process, as …” „… The most basic fusion algorithm takes two state estimates from sensors i and j and combines them …”

Titelei/Inhaltsverzeichnis

„… /VDI-Mitgliederpreis ¤ 68,50. Keywords: Sensor Fusion – Perception – Autonomous Driving – Driver Assistance – Track-to …” „… dynamic objects is presented in order to realize an effective method for sensor data fusion. A scalable …” „… high-level fusion architecture is developed for fusing object data from several sensors in a single system …”

Evaluation S. 133-151

„… for the sensor-level (a) and the fusion-level (b). At the sensor-level the colors correspond to the …” „… sensor type (laser scanner, radar or camera) and at the fusion-level to the estimated object …” „… 7 Evaluation The proposed high-level sensor data fusion architecture presented in the previous …”

References S. 172-202

„… ] Becker, J., “Fusion of Data from the Object-Detecting Sensors of an Autonomous Vehicle,” in IEEE …” „… ] Becker, J. and Simon, A., “Sensor and Navigation Data Fusion for an Autonomous Vehicle,” in IEEE …” „… Information Fusion, Cairns, Australia, July 2003, pp. 2–10. [72] ——, “Multi Sensor Data Fusion Using a …”

Existence Probability S. 93-115

„… existence probabilities from many sensors at the fusion-level is presented in Section 5.2. At the …” „… exist, , such that Θ = {∃, }. (5.46) 105 5 Existence Probability Fusion-Level Sensor …” „… ) is shown in Table 5.1. Each time object data from a sensor arrives at the fusion-level, each global …”

Classification S. 116-132

„… -level using only sensor-specific information (Section 6.1). At the fusion-level, classification vectors from …” „… fusion architecture from Section 2.2, the classification vector is first processed at the sensor …” „… networks. Fusion of sensor classification data at a low-level within a Joint Integrated Probabilistic Data …”

Introduction S. 1-26

„… system [76, 147, 219]. The combination of data from many sensor sources is called sensor data fusion and …” „… . . . Sensor N Sensor Data Fusion Application 1 . . . Application N Environment Model (b) Figure 1.1: Basic …” „… data processing through a common sensor data fusion module (b). in vehicles. With the increase of …”

Determining the Trust Probability S. 164-166

„… sensors. Therefore, the trust probability serves as a weighting factor during the fusion process, with the …” „… goal of properly considering sensor’s performance during fusion. In this appendix, the trust …” „… C Determining the Trust Probability For the fusion of the existence and classification probability …”

Information Matrix Fusion Derivation S. 162-163

„… arrival time of the sensor’s object estimate at the fusion-level, does not effect the algorithm’s ability …” „… the fusion-level. Note that adding a small prediction step to kG where kG > ki, which represents the …” „… B Information Matrix Fusion Derivation It can be shown that the information matrix fusion algorithm …”

Evaluation Scenario Descriptions S. 167-171

„… D Evaluation Scenario Descriptions Sensor data during several highway scenarios were recorded using …” „… algorithms presented in this thesis. Mainly the training of sensor-level classification algorithms and the …” „… parametrization of existence and classification fusion algorithms made use of the data described in this section …”

doi.org/10.51202/9783186804129

VDI Wissensforum GmbH - ELIV-MarketPlace 2022

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VDI Wissensforum GmbH (Hrsg.)

ELIV-MarketPlace 2022

Reihe: VDI-Berichte

Band 2405 2022

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E. Richter Next-Gen Sensor Fusion for Next-Gen Sensors and Driving Functions S. 37-58

„… we need Next-Generation Sensor Fusion?Dynamic ObjectsStatic ObjectsFree SpaceEnvironmental Model1 …” „… Next-Gen Sensor Fusion for Next-Gen Sensors and Driving Functions Dr.-Ing. Eric Richter, BASELABS …” „… GmbH, Chemnitz Abstract For next-generation driving functions and sensors, integrated sensor fusion …”

J. Toennemann Architectural Guidelines for AUTOSAR-based E/E Systems with Safety-related Availability Requirements S. 211-218

„… distributed function:Time synchronization is essential for use cases that perform sensor fusionSecure …” „… heavy workload (e.g. sensor fusion) canbe performed on application cores> an upper bound on timing …” „… B(D) on AvailabilityLegend Bus Power Sensors/Actuators3Use Cases for Fail-operational SystemsL3 AD …”

V. Anselm, I. Kotori Mastering Data Replay and HIL for ADAS and AD together S. 145-158

„… DATAWORLDSIMULATIONADAS ECUSENSORSADAS ECUVDI-Berichte Nr. 2405, 2022 149ni.comSENSOR SENSOR ECU FUSION ECUChallenges of …” „… interfaces with multiple sensors and various rest-of-vehicle-bus communications.  Complex new interfaces …” „… like for cameras with bi-directional communication between the ECU and the sensor  Tight control …”

B. Franczyk Technology comparison of surround sensors for mobile machines – Change from rule-based systems to Deep Learning S. 421-428

„… SENSORSwww.digitalisierung-landwirtschaft.deCamera LIDAR RADAR Ultrasound FusionField of viewMeasuring range, RangeVelocity resolutionRadial …” „… Technology comparison of surround sensors for mobile machines Change from rule-based systems to …” „… increasingly being equipped with different types of sensors such as LIDAR, RADAR, Ultrasound or Cameras in …”

M. Tanimou, T. Stumpf Centralized Architecture in Commercial Vehicles and its impact on Software defined Architecture S. 403-412

„… architecture2Vehicle-centralized and zonal E/E architectureDomain-fusion and zonal E/E …” „… (SOP)Domain-centralizedDomain-fusion,vehicle-centralized and zonal2025Cyan Magenta Yellow BlackPreflight Lx3 am Oktober 17, 2022 | 16:45:47 | 209.9 mm x …” „… property rights.Domain fusion as way to allow smooth migrationSolutions for future E/E architecture3 …”

S. Poledna, L. Antonia Zaza Bringing together major stakeholders to shape the future of autonomous operation. Can this also be done for the offhighway industry? S. 447-460

„… intelligenceAlgorithms and neural networksSensor fusion & real-time data Higher capacity and fast CPU performancesSensors …” „… • Component suppliers: sensors, actuators 5OEMs need to deliver robust car software at quality and scale, with …” „… software-defined vehiclesMain centralcomputerBackupcomputerSensors ActuatorsDrivetrain…IVICentralcomputerZone …”

Titelei/Inhaltsverzeichnis

„… neocx GmbH, Dresden f Autonomous Driving in Practice – Use Cases and ExperiencesNext-Gen Sensor Fusion …” „… for Next-Gen Sensors and Driving Functions � � � � � � � � � � � � � � � � �37 E …” „… . Hazanavicius, FEV Consulting GmbH, Aachen f Sensors for Automation and AutonomyRobust control strategies …”

V. Horvath, H. Laine, G. Blahut, A. Késmárki, M. Pfeifle Streaming Map Data Efficiently from Cloud to ECUs – A Cost-Efficient and Self-Adapting Solution for Intelligent Speed Assistance S. 239-248

„… v1 [5] Perumal, L. Doss, A.(2020). Sensor Fusion for Automotive Dead Reckoning Using GPS and IMU for …” „… possible information to all ECUs in the car, e.g., the camera fusion system. 5. Experimental Evaluation …” „… the fusion in an optimal way, the in-vehicle horizon module provides a vector – consisting of speed …”

doi.org/10.51202/9783181024058

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VDI Wissensforum GmbH (Hrsg.)

ELIV 2017

Reihe: VDI-Berichte

Band 2299 2017

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M. Schilling Sensor- und Funktionsschnittstellen in der Offenen Fusionsplattform (OFP) /Open fusion platform (OFP) – Sensor and functional interfaces S. 21-22

„… Open Fusion Platform (OFP) Sensor and Functional Interfaces Dr. Michael Schilling, HELLA …” „… few years ago, but for many issues regarding sensor fusion and environmental modelling, no standards …” „… Introduction to the basic concepts of the open fusion platform and then go into detail regarding the sensor …”

T. Schaller, W. Uhler, J. Schrepfer Proposal zur Standardisierung von Sensor Interfaces zu einer Fusionseinheit /Proposal for standardization of sensor interfaces to a fusion unit S. 19-20

„… Proposal for standardization of sensor interfaces to a fusion unit Dr.-Ing. Thomas Schaller …” „… systems have to work together in sensor fusion units in an unprecedented level of complexity. An …” „… standardized logical interface from sensors to a fusion unit will be introduced. 1. Motivation for sensor …”

R. Huisman, T. Kabos, M. Beenakkers, A.-J. van Eck Steps towards highly automated driving /Steps towards highly automated driving S. 7-8

„… track-to-track sensor fusion technique has been used in combination with a (gain scheduled) longitudinal plus …” „… buttons the driver can use to enable, disable or adjust different features. In the block ‘sensors’, for …” „… vehicle. This can be at a low level (i.e. raw sensor data) or at a high level (i.e. by using smart …”

Titelei/Inhaltsverzeichnis

„… Offenen Fusionsplattform (OFP) Open fusion platform (OFP) – Sensor and functional interfaces 21 T …” „… standardization of sensor interfaces to a fusion unit 19 M. Schilling Sensor- und Funktionsschnittstellen in der …” „… Proposal zur Standardisierung von Sensor Interfaces zu einer Fusionseinheit Proposal for …”

S. Waschul, B. Iske, C. Raksch, T. Führer Hochautomatisiertes Fahren (HAF) und Parken (HAP) – Trends und Herausforderungen /Highly automated driving (HAD) and parking (HAP) –Trends and challenges S. 9-10

„… only best system performance including advanced sensor data fusion will fulfil the market requirements …” „… for NCAPs world-wide, HAD and HAP. An exemplary system architecture including sensors, maps …” „… upcoming obstacles and hurdles based on redundant and orthogonal sensor principles, the system in all its …”

U. Beher, T. Weyrath IT-Backends für Automatisiertes Fahren und Kooperative Assistenz /IT-Backend for automated driving and cooperative ADAS S. 33-34

„… availability Sensor data processing and data fusion Limited to sensor hardware, limited to known and tested …” „… infrastructure Sensor detection range Limited to a few hundred meters Unlimited in range, limited by connected …” „… vehicles Sensor system readiness Continuous availability of traffic sensing Limited to over-the-air …”

M. Austerer Verbesserung der Fahrsicherheit und des Komforts durch intelligente Beleuchtung – Elektronik und Networking bereiten den Weg für neue Use Cases /Intelligent lighting improves driving safety and comfor... S. 73-74

„… , thermal management, sensor fusion (ADAS, HAD), electric/electronic architecture (EEA), software …” „… (HAD) are based on an increasingly large (sensor) data pool in the vehicle and in the backend, there …”

A. Jachens, M. Zühlsdorf, T. A. Kern, H. Abel AR Head-up Display – System Erfordernisse und Lösungen zur präzisen Augmentierung von Informationen in den Straßenhintergrund /Augmented reality headup display – System requirements and solutions conc... S. 105-106

„… obtained by intelligent sensor fusion algorithms. Very important is the precision of the overlay of visual …” „… visualization is the compensation of latencies. Those are created from the vehicle sensors signal transmission …”

doi.org/10.51202/9783181022993

VDI Wissensforum GmbH - LAND.TECHNIK 2020

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VDI Wissensforum GmbH (Hrsg.)

LAND.TECHNIK 2020

Reihe: VDI-Berichte

Band 2374 2020

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S. Jordan, D. O’Rourke, L. Avery, J. Almond 3D Colour vision for machine automation and safety – AI Sensor Fusion S. 345-352

„… 3D Colour vision for machine automation and safety AI Sensor Fusion Simon Jordan, Douglas …” „… invested heavily in the tools, software and algorithms for sensor fusion, machine vision and object …” „… , where high resolution depth data is required. Sensor fusion Sensor fusion has been ‘known’ since …”

A. Holler, C. Mueller From driver to automated driving – Proposal for a holistic step by step approach S. 413-424

„… VDI-Berichte Nr. 2374, 2020 417 sensors are needed, the next higher-level hardware is used: digsy fusion S-P …” „… the integration of newly upcoming sensors as well as to enable a product concept where different …” „… software functions. The related controller is a cost efficient digsy fusion G by Inter Control (see …”

S. Raikwar, T. Herlitzius, J. Fehrmann Autonomous Navigation Strategy for an Orchard Robot Using Simulation Design S. 425-434

„… difficult for integration. This multi-level sensor fusion even makes the system cost intensive. Therefore …” „… does the lane tracking and the path following. The robot uses ultra-sonic sensors for track following …” „… robotic platform preceding to its application in real field. They have used image-based sensors (Sick …”

Titelei/Inhaltsverzeichnis

„… machine automation and safety – AI Sensor Fusion � � � � � � � � � � � � � � � 345 S …” „… tillage with smart machinery – Electric-driven, sensor-controlled soil tillage …” „… moisture sensor in a combine harvester in order to improve the automatic machine adjustment …”

P. Riegler-Nurscher, J. Prankl, M. Vincze, H. Prankl A review on plant and soil properties estimation using ground-based computer vision techniques in the visible spectrum S. 353-360

„… computer vision applications feasible. Historically, sensor technologies and image analysis in agriculture …” „… matching are needed in the subsequent processing unit. Optionally, 3D sensors such as TOF Cameras or …” „… ., Gwang-hyun, Y., Vu, D. T., Jin-young, K. (2020): Late fusion of multimodal deep neural networks for weeds …”

doi.org/10.51202/9783181023747

VDI Wissensforum GmbH - 27. Deutscher Materialfluss-Kongress

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VDI Wissensforum GmbH (Hrsg.)

27. Deutscher Materialfluss-Kongress

Reihe: VDI-Berichte

Band 2325 2018

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M. Repplinger Optimierungspotenziale durch stufenweise Fusion und Integration von Sensorik am Beispiel von FTS S. 139-142

„… Optimierungspotenziale durch stufenweise Fusion und Integration von Sensorik am Beispiel von FTS …” „… ) Möglichkeiten aufgezeigt, wie durch stufenweise Fusionierung und Vernetzung von Sensoren die Produktivität von …” „… mittels Sensoren gelöst werden (z. B. Personenschutz, Lokalisierung, Anti-kollision, Positionierung …”

Titelei/Inhaltsverzeichnis

„… B. Mättig M. Repplinger Optimierungspotenziale durch stufenweise Fusion und 139 Integration von …” „… Sensorik am Beispiel von FTS Seite Best Practice II N. Dosch, Israels größte Krankenkasse Clalit errichtet …” „… Austausch von sensor- 189 M. Teucke, basierten Qualitätsereignisdaten – Kommunikation M. Freitag …”

J. Jost, T. Kirks, B. Mättig EMILI – Ergonomischer mobiler interaktiver Ladungsträger für die Intralogistik S. 131-138

„… . Die Fusion aus Behälter und Fahrerlosem Transportfahrzeug schafft eine Flexibilität, die in der Form …” „… Bewegung geeignete Sensorik zur Lokalisierung und Navigation des Fahrzeugs benötigt. Die derzeitige …” „… . Der Roboter besitzt Sensorik zur Erfassung von Hindernissen oder Personen und ist darauf ausgelegt …”

Shuttle und FTS S. 329-362

„… Anforderungen der Zukunft zu erfüllen. Wir werden fusionierte Sensoren benötigen, was den Aufwand bei der …” „… wird. Fusionierte 3D-Sensoren in den FTF müssen dann mit ortsfesten Sensoren zur Überwachung zentraler …” „… verwenden proprietäre Leitsteuerungen und 2-dimensionale Sensoren, wodurch die Möglichkeiten hinsichtlich …”

doi.org/10.51202/9783181023259

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