Vision-based active safety system for automatic stopping

Milanés Montero, Vicente and Fernández Llorca, David and Villagra Serrano, Jorge and Pérez, Joshué and Parra Alonso, Ignacio and González Fernández-Vallejo, Carlos and Sotelo, Miguel Ángel (2012). Vision-based active safety system for automatic stopping. "Expert Systems with Applications", v. 39 (n. 12); pp. 11234-11248. ISSN 0957-4174.


Title: Vision-based active safety system for automatic stopping
  • Milanés Montero, Vicente
  • Fernández Llorca, David
  • Villagra Serrano, Jorge
  • Pérez, Joshué
  • Parra Alonso, Ignacio
  • González Fernández-Vallejo, Carlos
  • Sotelo, Miguel Ángel
Item Type: Article
Título de Revista/Publicación: Expert Systems with Applications
Date: September 2012
ISSN: 0957-4174
Volume: 39
Freetext Keywords: Accident detection; Collision avoidance; Intelligent control; Pedestrian protection; Anti-lock braking system; Stereovision
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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ntelligent systems designed to reduce highway fatalities have been widely applied in the automotive sector in the last decade. Of all users of transport systems, pedestrians are the most vulnerable in crashes as they are unprotected. This paper deals with an autonomous intelligent emergency system designed to avoid collisions with pedestrians. The system consists of a fuzzy controller based on the time-to-collision estimate – obtained via a vision-based system – and the wheel-locking probability – obtained via the vehicle’s CAN bus – that generates a safe braking action. The system has been tested in a real car – a convertible Citroën C3 Pluriel – equipped with an automated electro-hydraulic braking system capable of working in parallel with the vehicle’s original braking circuit. The system is used as a last resort in the case that an unexpected pedestrian is in the lane and all the warnings have failed to produce a response from the driver.

More information

Item ID: 21251
DC Identifier:
OAI Identifier:
DOI: 10.1016/j.eswa.2012.03.047
Official URL:
Deposited by: Memoria Investigacion
Deposited on: 06 Nov 2013 18:12
Last Modified: 21 Apr 2016 11:24
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