Performance Measure of Vehicle Onboard Vision System: An Interval Observer-based Approach

Abstract

Advanced Driver assistance systems that assist in safe vehicle guidance require a thorough understanding of the crossed environment. Because these systems rely on the vision sensor’s ability to detect road boundaries and lane marking, these systems are extremely sensitive to road conditions. Itis therefore important to take a critical look at their key aspects and evaluate their performance and accuracy. In this work, an evaluation framework to measure the performance of a vehicle onboard stereo-vision system using set-membership theory is presented. The proposed approach considers the changes that might occur in vehicle dynamics during the maneuver. The experiment design and evaluation of the proposed method is shown using field data acquired using an instrumented vehicle.