The DriveSafe project was carried out by a consortium of university research centers and automotive OEMs in Turkey to reduce\r\naccidents caused by driver behavior. A huge amount of driving data was collected from 108 drivers who drove the instrumented\r\nDriveSafe vehicle in the same route of 25 kmof urban and highway traffic in Istanbul. One of the sensors used in theDriveSafe vehicle\r\nwas a forward-looking LIDAR.The data from the LIDAR is used here to determine and record the headway time characteristics\r\nof different drivers. This paper concentrates on the analysis of LIDAR data from the DriveSafe vehicle. A simple algorithm that\r\nonly looks at the forward direction along a straight line is used first. Headway times based on this simple approach are presented\r\nfor an example driver. A more accurate detection and tracking algorithm taken from the literature are presented later in the paper.\r\nGrid-based and point distance-based methods are presented first. Then, a detection and tracking algorithm based on the Kalman\r\nfilter is presented.The results are demonstrated using experimental data.
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