State-of-the-art Versus Time-triggered Object Tracking in Advanced Driver Assistance Systems. (15th April 2013)

• Record Type: Journal Article
• Authors: Koplin, Moritz; Elmenreich, Wilfried
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 4(2013)
• Publication Date: 2013-04-15
• Subjects: Decentralized Control -- High-Order Neural Networks -- Extended Kalman Filter -- Backstepping; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/52348
• Languages: English
• ISSNs: 1729-8806

Abstract

Most state-of-the-art driver assistance systems cannot guarantee that real-time images of object states are updated within a given time interval, because the object state observations are typically sampled by uncontrolled sensors and transmitted via an indeterministic bus system such as CAN. To overcome this shortcoming, a paradigm shift toward time-triggered advanced driver assistance systems based on a deterministic bus system, such as FlexRay, is under discussion. In order to prove the feasibility of this paradigm shift, this paper develops different models of a state-of-the-art and a time-triggered advanced driver assistance system based on multi-sensor object tracking and compares them with regard to their mean performance. The results show that while the state-of-the-art model is advantageous in scenarios with low process noise, it is outmatched by the time-triggered model in the case of high process noise, i.e., in complex situations with high dynamic.