Technical Paper: Scenario Based Testing Approach for Fusion Algorithm

Driver assistance systems like lane departure sensing, forward collision warning, advanced adaptive cruise controller and collision warning system need input data from several sensors. Sensor fusion algorithm adds more accuracy and reduces any ambiguity to the sensor data that is received by the driver assistance systems from sensors.

Hence testing the fusion algorithm, which is most of the times scenario based, is the most crucial and non-trivial activity in the process of testing driver assistance systems. Though most of the tools available in market for unit/system/integration testing are efficient enough, these allow the user to test the application based on assertions or logical expressions and hence are not very useful for scenario based testing.

This paper proposes a tool for testing the Fusion algorithm based on scenarios. The tool proposed has a user interface and the user will be able to create scenarios and generate test vectors for fusion algorithm. Measurement fusion method which is a Kalman filter technique is derived to implement the fusion algorithm.

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