%%?Forward?Collision?Warning?Using?Sensor?Fusion
%?This?example?shows?how?to?perform?forward?collision?warning?by?fusing
%?data?from?vision?and?radar?sensors?to?track?objects?in?front?of?the
%?vehicle.
%

%%?Overview
%?Forward?collision?warning?（FCW）?is?an?important?feature?in?driver
%?assistance?and?automated?driving?systems?where?the?goal?is?to?provide
%?correct?timely?and?reliable?warnings?to?the?driver?before?an?impending
%?collision?with?the?vehicle?in?front.?To?achieve?the?goal?vehicles?are
%?equipped?with?forward-facing?vision?and?radar?sensors.?Sensor?fusion?is
%?required?to?increase?the?probability?of?accurate?warnings?and?minimize
%?the?probability?of?false?warnings.
%
%?For?the?purposes?of?this?example?a?test?car?（the?ego?vehicle）?was
%?equipped?with?various?sensors?and?their?outputs?were?recorded.?The
%?sensors?used?for?this?example?were:
%
%?#?Vision?sensor?which?provided?lists?of?observed?objects?with?their?
%???classification?and?information?about?lane?boundaries.?The?object?lists?
%???were?reported?10?times?per?second.?Lane?boundaries?were?reported?20
%???times?per?second.
%?#?Radar?sensor?with?medium?and?long?range?modes?which?provided?lists?of?
%???unclassified?observed?objects.?The?object?lists?were?reported?20?times?
%???per?second.
%?#?IMU?which?reported?the?speed?and?turn?rate?of?the?ego?vehicle?20?times
%???per?second.
%?#?Video?camera?which?recorded?a?video?clip?of?the?scene?in?front?of?the
%???car.?Note:?This?video?is?not?used?by?the?tracker?and?only?serves?to
%???display?the?tracking?results?on?video?for?verification.
%
%?The?process?of?providing?a?forward?collision?warning?comprises?the
%?following?steps:?
%
%?#?Obtain?the?data?from?the?sensors.
%?#?Fuse?the?sensor?data?to?get?a?list?of?tracks?i.e.?estimated
%???positions?and?velocities?of?the?objects?in?front?of?the?car.
%?#?Issue?warnings?based?on?the?tracks?and?FCW?criteria.?The?FCW?criteria
%???are?based?on?the?Euro?NCAP?AEB?test?procedure?and?take?into?account?the
%???relative?distance?and?relative?speed?to?the?object?in?front?of?the?car.
%
%?For?more?information?about?tracking?multiple?objects?see?
%?jectTracking‘）?Multiple?object?Tracking>.
%
%?The?visualization?in?this?example?is?done?using
%??and?%?birdsEyePlot>.?For?brevity?the?functions?that?create?and?update?the
%?display?were?moved?to?helper?functions?outside?of?this?example.?For?more
%?information?on?how?to?use?these?displays?see
%?jectOnVideoExample.html?Annotate?Video?Using
%?Detections?in?Vehicle?Coordinates>?and?%?Visualize?Sensor?Coverage?Detections?and?Tracks>.
%
%?This?example?is?a?script?with?the?main?body?shown?here?and?helper
%?routines?in?the?form?of
%?ripts‘）?local?f

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????3539658??2017-05-08?22:42??基于計算機視覺的自動駕駛應(yīng)用\01_city_c2s_fcw_10s.mp4
?????文件?????????921??2017-05-08?22:42??基于計算機視覺的自動駕駛應(yīng)用\FCWDemoMonoCameraSensor.mat
?????文件?????????364??2017-05-08?22:42??基于計算機視覺的自動駕駛應(yīng)用\SensorConfigurationData.mat
?????文件???????30785??2017-05-08?22:42??基于計算機視覺的自動駕駛應(yīng)用\main.m
?????文件??????????35??2017-05-11?12:53??基于計算機視覺的自動駕駛應(yīng)用\說明.txt
?????目錄???????????0??2018-05-26?16:49??基于計算機視覺的自動駕駛應(yīng)用\