Sensor data fusion for multiple configurations

This paper presents a fusion architecture designed for vehicle manufacturers that use multiple sensor systems to realize several active safety applications, ranging from standard systems to autonomous systems. Advantages and disadvantages of design choices are discussed and the methods we have chosen to implement in two demonstrator vehicles are used as examples. The main contributions are the separation of the architecture into three categories, the state vector parametrization, and the use of multiple output-lists. Together, these choices make it possible to re-use verified core functionality while filters can be independently tuned to meet application-specific requirements.