Obstacle Collision Warning Using Ultrasonic and LiDAR Sensor Fusion

Recently, passenger vehicles were equipped with an Advanced Driver Assistance System (ADAS) feature in assisting drivers to control the vehicle, which gives an alarming signal about possible dangers. Obstacle collision warning (OCW) uses sensors installed in front of the vehicle to detect distance between the front obstacle and the vehicle, to avoid a collision. In common, the types of sensors used in obstacle detection are camera, radar, ultrasonic sensor, and so on. In this paper, fusion of ultrasonic sensor and Light Detection and Ranging (LiDAR) is proposed, which provides extended range detection and increased accuracy. Hardware implementation of ultrasonic sensor and Leddar M16 LiDAR sensor fusion is carried out using an Arduino UNO controller and for, in vehicle communication Controller Area Network (CAN) protocol were used. The outcome of both short and long-distance obstacle detection using ultrasonic and LiDAR are compared.