Target tracking and decision-making for collision avoidance based on multisensor fusion
基于多传感器信息融合的目标跟踪与防撞决策

To realize target tracking and collision avoidance in the system of vehicle active safety, a hybrid information fusion structure model of vehicle collision avoidance system(CAS) is presented to implement the target tracking with the method of hierarchical fusion. A new algorithm for multisensor fusion based on residual track error and predicted residual error is proposed and the realization architecture for the new algorithm is also presented.Then,an information fusion method based on fuzzy integral is presented to make a decision for traveling model.The experiments show that the new algorithm is stable and exact.