Development of Pedestrian Detection and Collision Warning System by Using Monocular Camera and Millimeter Wave Radar

Abstract

This paper proposes a pedestrian collision avoidance system based on a monocular camera and a millimeter wave radar, as one of the active safety technologies to protect pedestrians. The method to decide about the presence of a pedestrian is based on the assumption that objects moving along a crosswalk can be interpreted as pedestrians under certain circumstances. The camera can be used to detect the crosswalk. Data from both sensors can then be used to infer abut the presence of a pedestrian. The sensor fusion algorithm which combines data from the sensors is explained. Then the paper describes a warning concept which provides visual information about the presence of a pedestrian to the driver, depending on an estimated probability for a collision. Finally, results from test drives on an experimental vehicle with the system running in practice is presented.