Environment model creation and ADAS architecture for trucks: design and implementation of a sensor fusion algorithm

This report presents a structural approach for environment model creation and ADAS architecture for trucks. In particular, an appropriate sensor suite that is suitable for a set of ADAS functions is defined. On this basis, the development of a proof of concept for an Environment Model system, by means of sensor fusion, using rapid control prototyping hardware is thoroughly explained. In the first part of this report, special focus is given to the analysis of the environment model creation problem. Precisely, insights into how DAF and its customers can benefit from the deployment of such a system are provided. Moreover, technology, market and competitor analysis are also investigated. As a next step, the requirements elicitation process is explicitly described, resulting in a set of uses cases and their derived requirements. Furthermore, the selection of an appropriate sensor suite, in order to sense the environment area in front of the truck, is elaborated. Then, an environment model system architecture is proposed which respects and fulfills the requirements, defining also the necessary software components. In the second part of the report, the implementation of the environment model on a prototype vehicle is explained, while also verification and validation results with respect to system performance are presented. Finally, the report deals with the project management approach, while also overall conclusion and recommendations are drawn.