D60.5 Scenario Representation
This report describes the results of WP60.500, Integrated sensor platform-perception and data processing. The objective of the work package has been to reconstruct the traffic scenario abstraction all around the vehicle, enhancing the environmental perception using sensor data fusion techniques and platforms from previous VSPs, such as the LATERAL SAFE data fusion platform and the SAFELANE decision processing unit.
The report focuses on describing the algorithms and modified S/W (based on ProFusion2 methods) used for the reconstruction of the scenario all-around the vehicle for the two functional demonstrators of INSAFES. It covers the sensor fusion platform adaptation for the city car (CRF) and the truck (VTEC). Moreover the reference manoeuvre module implemented in CRF demonstrator vehicle is reported. The reference manoeuvre concept was originally developed within the SASPENCE subproject and has been extended in INSAFES to evaluate and compare the risk level of two possible manoeuvres, the most probable and an alternative.