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Conflict management in multi-sensor dempster-shafer fusion for speed limit determination

This paper deals with a Speed Limit Determination Advanced Driver Assistance System (ADAS) performing the combination of a navigation system and a Speed Limit Sign Recognition System (SLSR). The present strategy is based on a multi-level data fusion using the Evidence theory. In a first step, the sensor reliabilities are estimated using indicators provided by the sources. Simultaneously, a multi-criterion fusion is processed on attributes extracted from the navigation system to detect its potential erroneous data and define the best navigation limit speed candidate. The second fusion level - the multi-sensor fusion - considers the navigation and the camera-based SLSR to be independent and specialized. In addition, the conflict is interpreted as an additional source of information for the final speed limit definition. The benefits of the proposed solution are shown through simulations and real experiments.