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This article presents a multi sensor approach for driver assistance systems: the detection and tracking of pedestrians in a road environment. A multi sensor system consisting of a far infrared camera and a laser scanning device is used for the detection and precise localization of pedestrians. Kalman j l t e r based Data Fusion handles the conzbination of the sensor infomation of the infrared camera and of the laser scanner. Arranging a set of Kalman jilters in parallel, a multi sensor / multi target tracking system was created. The usage of suitable movement models has a great injuence on the pelfomzance of the tracking system. Severul types of models are discussed focussing the typical behavior of pedestrians in road environments. The multi sensor / multi target tracking system is installed on a test vehicle to obtain practical results which will be discussed in this article too. 0-7803-831

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This paper treats an important problem concerning driver assistance systems: the detection and tracking of road borders. The detection of the road boarders are createdfrom the signals of a laser Scanner system. Two different information can be taken from the laser signal: range and reflectivity. The mnge signal deliwers the road edges at the basis of single scans.In opposite to that, to detect edges in the reflectiuity, the mflectivity signals are arranged as images and a special image pmcessing algorithm is developed. The fusion and tmcking of this information is performed using an Eztended Kalman filter where a circular curue is wed as mouement model.

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