Abstract
Pedestrian detection is one of the key technologies for driver assistance systems. This paper proposes a sensor fusion system for pedestrian detection using an electrically-scanned millimeter wave radar and a stereovision. To improve the sensitivity of the radar for pedestrians, the system controls the directivity of the radar beam on the basis of the detection results from the stereovision. And the reliability for the detected radar signals is estimated by using the Dempster-Shafer evidence theory in order to determine precisely whether pedestrians are present or not. Some experiments in a road environment confirm the effectiveness of the proposed system.
