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Collision Avoidance in Low-Speed Maneuvering using Camera Data

Abramsson, Andreas (2019)
Department of Automatic Control
Abstract
In this thesis, an automatic emergency braking is developed using camera data. The vehicle used in the development is a Volvo XC90 equipped with a prototype version of a camera-based, automated parking system. The camera detection output is a 2D version of the static environment populated with obstacles represented by convex hulls. These are used to safely avoid real-world obstacles by braking if the car is on a collision course with any obstacle. The code for analyzing the data and performing a threat assessment and decision making was written in Python. The thesis resulted in a working demo where the car successfully avoids a side collision by performing a rotation. There are some imperfections though and the function needs additional... (More)
In this thesis, an automatic emergency braking is developed using camera data. The vehicle used in the development is a Volvo XC90 equipped with a prototype version of a camera-based, automated parking system. The camera detection output is a 2D version of the static environment populated with obstacles represented by convex hulls. These are used to safely avoid real-world obstacles by braking if the car is on a collision course with any obstacle. The code for analyzing the data and performing a threat assessment and decision making was written in Python. The thesis resulted in a working demo where the car successfully avoids a side collision by performing a rotation. There are some imperfections though and the function needs additional work in order to be good enough for production, particularly in sensor fusion with, e.g., ultrasonic sensors which can detect objects that the camera is struggling to detect. (Less)
Please use this url to cite or link to this publication:
author
Abramsson, Andreas
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
report number
TFRT-6078
ISSN
0280-5316
language
English
id
8974701
date added to LUP
2019-06-12 11:41:55
date last changed
2019-06-12 11:41:55
@misc{8974701,
  abstract     = {In this thesis, an automatic emergency braking is developed using camera data. The vehicle used in the development is a Volvo XC90 equipped with a prototype version of a camera-based, automated parking system. The camera detection output is a 2D version of the static environment populated with obstacles represented by convex hulls. These are used to safely avoid real-world obstacles by braking if the car is on a collision course with any obstacle. The code for analyzing the data and performing a threat assessment and decision making was written in Python. The thesis resulted in a working demo where the car successfully avoids a side collision by performing a rotation. There are some imperfections though and the function needs additional work in order to be good enough for production, particularly in sensor fusion with, e.g., ultrasonic sensors which can detect objects that the camera is struggling to detect.},
  author       = {Abramsson, Andreas},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  title        = {Collision Avoidance in Low-Speed Maneuvering using Camera Data},
  year         = {2019},
}