Gaze Control of Millimeter Wave Radar for Pedestrian Detection

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.歩行者に対する検出性能を向上するためミリ波レーダとステレオビジョンの融合手法を提案する．歩行者はレーダにとって検出が難しい対象である．そこで，提案手法ではステレオビジョンの結果に基づいてレーダの指向性を制御し，検出信号の強度から信頼性を判定する．走行環境での定量評価により提案手法の有効性を示す．