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Journal of Sensors
Volume 2016, Article ID 1963450, 8 pages
Research Article

Detection and Tracking of Road Barrier Based on Radar and Vision Sensor Fusion

Department of Mechanical Engineering, Ajou University, Suwon 16499, Republic of Korea

Received 19 June 2016; Accepted 16 August 2016

Academic Editor: Antonio Fernández-Caballero

Copyright © 2016 Taeryun Kim and Bongsob Song. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The detection and tracking algorithms of road barrier including tunnel and guardrail are proposed to enhance performance and reliability for driver assistance systems. Although the road barrier is one of the key features to determine a safe drivable area, it may be recognized incorrectly due to performance degradation of commercial sensors such as radar and monocular camera. Two frequent cases among many challenging problems are considered with the commercial sensors. The first case is that few tracks of radar to road barrier are detected due to material type of road barrier. The second one is inaccuracy of relative lateral position by radar, thus resulting in large variance of distance between a vehicle and road barrier. To overcome the problems, the detection and estimation algorithms of tracks corresponding to road barrier are proposed. Then, the tracking algorithm based on a probabilistic data association filter (PDAF) is used to reduce variation of lateral distance between vehicle and road barrier. Finally, the proposed algorithms are validated via field test data and their performance is compared with that of road barrier measured by lidar.