Development of an Integrated Driving Path Estimation Algorithm for ACC and AEBS Using Multi-Sensor Fusion

This paper presents an integrated driving path estimation algorithm for adaptive cruise control system and advanced emergency braking system using multi-sensor fusion. This algorithm is developed to predict the ego-vehicle's path accurately and improve primary target detection rate. The path prediction is consisted of two prediction process; one is based on vehicle states and the other is based on vision data. For application to dynamic maneuvering situation, the driving mode index which allows a detection of the driver maneuver intention is proposed. In accordance with the driving mode, the two types of driving path information are integrated finally. The proposed driving path estimation algorithm has been investigated via closed-loop simulation. It has been shown that the proposed driving path estimation algorithm enhance the capabilities of adaptive cruise control and advanced emergency braking system functions by providing the ego-vehicles path accurately, especially in dynamic maneuvering situation.