Real time embedded sensor fusion for driver assistance

This paper details the design and implementation of an embedded real-time system to fuse data from two 77Ghz radars, three 24GHz radars and a video lane detection system fitted to a vehicle to track the movement of other vehicles in the local environment. The system demonstrates excellent tracking of vehicles as they pass through regions covered by single and multiple sensors as well as regions with no sensor coverage where tracking continues despite no new measurements. Such a system facilitates future driver assistance functions such as lane change support and blind spot detection.