An experimental study on pitch compensation in pedestrian-protection systems for collision avoidance and mitigation

Authors:
D. F. Llorca;M. A. Sotelo;I. Parra;J. E. Naranjo;M. Gavilán;S. Álvarez
Affiliations:
Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Alcalá de Henares, Spain;Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Alcalá de Henares, Spain;Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Alcalá de Henares, Spain;Computer Science School, Universidad Politécnica de Madrid, Madrid, Spain;Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Alcalá de Henares, Spain;Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Alcalá de Henares, Spain
Venue:
IEEE Transactions on Intelligent Transportation Systems
Year:
2009

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Abstract

This paper describes an improved stereovision system for the anticipated detection of car-to-pedestrian accidents. An improvement of the previous versions of the pedestrian-detection system is achieved by compensation of the camera's pitch angle, since it results in higher accuracy in the location of the ground plane and more accurate depth measurements. The system has been mounted on two different prototype cars, and several real collision-avoidance and collision-mitigation experiments have been carried out in private circuits using actors and dummies, which represents one of the main contributions of this paper. Collision avoidance is carried out by means of deceleration strategies whenever the accident is avoidable. Likewise, collision mitigation is accomplished by triggering an active hood system.