A New Approach to Urban Pedestrian Detection for Automatic Braking

Broggi, Alberto; Cerri, Pietro; Ghidoni, Stefano; Grisleri, Paolo; Jung, Ho Gi

doi:10.1109/tits.2009.2032770

Cited by 135 publications

(76 citation statements)

References 14 publications

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“…The automatic intervention of typical AEB systems aims to improve on the reaction of the driver, even when the collision is inevitable and the benefit of the system is injury mitigation rather than prevention. The development of advanced detection systems will further improve the robustness of the target-recognition algorithms and boost reaction time in particularly challenging scenarios such as small, fast moving targets emerging from visual obstructions (Broggi et al, 2009). For such extreme scenarios, the test configurations corresponding to STATS19 cluster 2 (Fig.…”

Section: Discussionmentioning

confidence: 99%

“…Side impacts were filtered from the study to accommodate the current capability of AEB systems which are designed to detect pedestrians in front of the vehicle within a range defined as the driving corridor (Broggi et al, 2009). In addition it has been shown that head injuries incurred by pedestrians in side impacts are mainly caused by impact with the road or ground rather than impact with the vehicle (Badea-Romero and Lenard, 2013), indicating the limitations of safety technology for this form of interaction between vehicles and vulnerable road users.…”

Section: Methodsmentioning

confidence: 99%

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Typical pedestrian accident scenarios for the development of autonomous emergency braking test protocols

Lenard

Badea-Romero

Danton³

2014

Accident Analysis & Prevention

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An increasing proportion of new vehicles are being fitted with autonomous emergency braking systems. It is difficult for consumers to judge the effectiveness of these safety systems for individual models unless their performance is evaluated through track testing under controlled conditions. This paper aimed to contribute to the development of relevant test conditions by describing typical circumstances of pedestrian accidents. Cluster analysis was applied to two large British databases and both highlighted an urban scenario in daylight and fine weather where a small pedestrian walks across the road, especially from the near kerb, in clear view of a driver who is travelling straight ahead. For each dataset a main test configuration was defined to represent the conditions of the most common accident scenario along with test variations to reflect the characteristics of less common accident scenarios. Some of the variations pertaining to less common accident circumstances or to a minority of casualties in these scenarios were proposed as optional or supplementary test elements for an outstanding performance rating. Many considerations are incorporated into the final design and implementation of an actual testing regime, such as cost and the state of development of technology; only the representation of accident data lay within the scope of this paper. It would be desirable to ascertain the wider representativeness of the results by analysing accident data from other countries in a similar manner.

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Section: Discussionmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Typical pedestrian accident scenarios for the development of autonomous emergency braking test protocols

Lenard

Badea-Romero

Danton³

2014

Accident Analysis & Prevention

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“…These measures may include autonomous emergency braking or autonomous steering (e.g. Broggi et al, 2009;Hayashi et al, 2012;Keller et al, 2011a).…”

Section: Introductionmentioning

confidence: 99%

Issues and challenges for pedestrian active safety systems based on real world accidents

Hamdane

Serre²,

Masson

et al. 2015

Accident Analysis & Prevention

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Issues and challenges for pedestrian active safety systems based on real world accidents 2Issues and challenges for pedestrian active safety systems based on real world accidents Abstract The purpose of this study was to analyze real crashes involving pedestrians in order to evaluate the potential effectiveness of Autonomous Emergency Braking systems (AEB) in pedestrian protection. A sample of 100 real accident cases were reconstructed providing a comprehensive set of data describing the interaction between the vehicle, the environment and the pedestrian all along the scenario of the accident. A generic AEB system based on a camera sensor for pedestrian detection was modeled in order to identify the functionality of its different attributes in the timeline of each crash scenario. These attributes were assessed to determine their impact on pedestrian safety. The influence of the detection and the activation of the AEB system were explored by varying the Field Of View (FOV) of the sensor and the level of deceleration. A FOV of 35° was estimated to be required to detect and react to the majority of crash scenarios. For the reaction of a system (from hazard detection to triggering the brakes), between 0,5 and 1s appears necessary.

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“…A lidar alone can be used to estimate the ego-motion and to detect mobile objects thanks to a dense 3D grid-map approach [4]. In [5] and [6] real time sensor-referenced approaches (i.e. ego-localization is not considered) are presented using multi-sensor systems showing the complementarity of lidar and vision systems in automotive applications.…”

Section: Introductionmentioning

confidence: 99%

An embedded multi-modal system for object localization and tracking

Rodríguez¹,

Frémont²,

Cherfaoui³

2012

IEEE Intell. Transport. Syst. Mag.

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Abstract-Reliable obstacle detection and localization is a key issue for driving assistance systems particularly in urban environments. In this article, a multi-modal perception approach is studied in order to enhance vehicle localization and dynamic objects tracking, in a world-centric map. 3D ego-localization is done by merging a stereo vision system and proprioceptive information coming from vehicle sensors. Mobile objects are detected using a multi-layer lidar that is simultaneously used to characterize a zone of interest in order to reduce the complexity of the perception process. Objects localization and tracking is then performed in the fixed frame which simplifies the scene analysis and understanding. Real experimental results are reported to evaluate the performance of the multi-modal system.

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A New Approach to Urban Pedestrian Detection for Automatic Braking

Cited by 135 publications

References 14 publications

Typical pedestrian accident scenarios for the development of autonomous emergency braking test protocols

Typical pedestrian accident scenarios for the development of autonomous emergency braking test protocols

Issues and challenges for pedestrian active safety systems based on real world accidents

An embedded multi-modal system for object localization and tracking

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