Intelligent on-board system for driving assistance

We present in this paper, an electronic copilot embedded in a real car. The system objective is to help the driver by sending alarms or warnings in order to avoid dangerous situtations. An onboard perception system based on CCD cameras and proprioceptive sensors is used ot provide information concerning the environment and the internal state of the vehicle. From this set of information, the copilot is able to analyze the situation and to generate adequate warnings to the driver according to the circumstances. The definition and the development of such a system deal with multisensor data fusion and supervision strategies. The framework of this work was the European Prometheus Pro-Art program. The electronic copilot has been integrated in a prototype vehicle called Prolab2. This French demonstrator integrates the works of nine research laboratories and two car companies: PSA and RENAULT. After a brief presentation of the global demonstrator, we present the two principal parts developed in our laboratory corresponding to the high level modules of the system: the dynamic data manager and the situation supervision.