**3. Functioning of ADAS**

Advanced driver assistance systems (ADAS) need a number of integrated sensors to accurately determine situational assessment and action implementation. In ADAS technologies [5–7] sensors such as video, radar, LIDAR, ultrasonic and infrared (IR) sensors are being increasingly utilized. Sensor fusion with advanced algorithms and computing power, connectivity and data transmission, contextual awareness and processing, and virtual sensors is extremely important for success of ADAS.

There are six levels of vehicle automation as shown in **Figure 5** defined by the Society of Automotive Engineers (SAE) [8] with a span from Level 0, which has no automation, to Level 5, which involve fully autonomous vehicles. As automation expands, driver assistance and ADAS plays an increasingly important role.

**Level 0:** Driver only: the driving is controlled by the human driver using with driving aids independently including steering, throttle, brakes, etc.

**Level 1:** Assisted driving: driver needs assistance during vehicle operation with respect to Cruise Control, ACC.

**Level 2:** Partial automation: the system is monitored during driving. At least one system, such as cruise control and lane centering, is fully automated.

**Level 3:** Conditional automation: the system is monitored by the operator and can intervene when it is necessary. Safety-critical functions, under certain circumstances, are shifted to the vehicle.

**Level 4:** High automation: there is no monitoring required by the driver. Vehicles are designed to operate safety-critical functions and monitor road conditions for an entire trip. However, the functions do not cover all every driving scenario and are limited to the operational design of the vehicle.

**Level 5:** Full automation: it ensures operator-free driving without any intervention.

As of today, no car manufacturer has achieved level 3 or higher in production, although several have produced demonstration vehicles. The legislature of some countries is working on a possible admission of "Level 3" vehicles, which is expected to be available in 2020/21. Driver assistance systems enabling autonomous driving from level 3 onwards will require at least three types of sensor systems: camera, radar, and LIDAR systems. As can be seen in **Figure 5**, several of each type of sensor operates at

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of the environment [4].

**4. Data fusion**

**Figure 5.**

*driving-vehicles.*

**4.1 Fusion of DATA at ECU**

1.Information has to be gathered;

2.Information needs to be evaluated;

3.A safety measure need to be taken;

*Driver Assistance Technologies*

*DOI: http://dx.doi.org/10.5772/intechopen.94354*

various locations on the vehicle. The development of the LIDAR system is still posing

*Various levels of ADAS, source: https://www.sae.org/news/press-room/2018/12/sae-international-releasesupdated-visual-chart-for-its-%E2%80%9Clevels-of-driving- automation%E2%80%9D-standard-for-self-*

There are a number of sub systems associated in performing various tasks of ADAS. A vehicle's movement detected by the ADAS can be seen in the main system inside the vehicle when the driver is present. This system interacts with the environment. There are different functions of the system as can be clearly distinguished in **Figure 6**. The following distinctive features of fusion are mentioned as under:

These functions are synonymous to as Sense (1), Think(2), and Act(3). Only the Sense sensors are reviewed and only the systems in which the driver is inside the loop. **Figure 6** shows the process of 'multi sensor processing', starting with the sensor data acquisition. Next, the sensors processing, divided into several tasks, as 'Calibration, 'Feature Extraction', 'Object Detection', etc., begins to analyze the sensors data and, in the end, serves the application with a more or less detailed model

the bigger and most dynamic challenge in technical and commercial terms.

*Driver Assistance Technologies DOI: http://dx.doi.org/10.5772/intechopen.94354*


**Figure 5.**

*Models and Technologies for Smart, Sustainable and Safe Transportation Systems*

Advanced driver assistance systems (ADAS) need a number of integrated sensors to accurately determine situational assessment and action implementation. In ADAS technologies [5–7] sensors such as video, radar, LIDAR, ultrasonic and infrared (IR) sensors are being increasingly utilized. Sensor fusion with advanced algorithms and computing power, connectivity and data transmission, contextual awareness and processing, and virtual sensors is extremely important for success of ADAS.

*Architecture of ADAS -Parking Avoidance & Blind. Source: http://www.techdesignforums.com/practice/*

*technique/managing-the-evolving-architecture-of-integrated-adas-controllers/.*

There are six levels of vehicle automation as shown in **Figure 5** defined by the Society of Automotive Engineers (SAE) [8] with a span from Level 0, which has no automation, to Level 5, which involve fully autonomous vehicles. As automation expands, driver assistance and ADAS plays an increasingly important role.

**Level 0:** Driver only: the driving is controlled by the human driver using with

**Level 1:** Assisted driving: driver needs assistance during vehicle operation with

**Level 2:** Partial automation: the system is monitored during driving. At least one

**Level 4:** High automation: there is no monitoring required by the driver. Vehicles are designed to operate safety-critical functions and monitor road conditions for an entire trip. However, the functions do not cover all every driving scenario and are

**Level 5:** Full automation: it ensures operator-free driving without any

As of today, no car manufacturer has achieved level 3 or higher in production, although several have produced demonstration vehicles. The legislature of some countries is working on a possible admission of "Level 3" vehicles, which is expected to be available in 2020/21. Driver assistance systems enabling autonomous driving from level 3 onwards will require at least three types of sensor systems: camera, radar, and LIDAR systems. As can be seen in **Figure 5**, several of each type of sensor operates at

**Level 3:** Conditional automation: the system is monitored by the operator and can intervene when it is necessary. Safety-critical functions, under certain circum-

driving aids independently including steering, throttle, brakes, etc.

system, such as cruise control and lane centering, is fully automated.

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intervention.

**3. Functioning of ADAS**

**Figure 4.**

respect to Cruise Control, ACC.

stances, are shifted to the vehicle.

limited to the operational design of the vehicle.

*Various levels of ADAS, source: https://www.sae.org/news/press-room/2018/12/sae-international-releasesupdated-visual-chart-for-its-%E2%80%9Clevels-of-driving- automation%E2%80%9D-standard-for-selfdriving-vehicles.*

various locations on the vehicle. The development of the LIDAR system is still posing the bigger and most dynamic challenge in technical and commercial terms.
