Driving activity: How to improve knowledge of the environment

This paper concerns the problem of driving assistance and, in particular, how to improve the perception of the surrounding environment to make this assistance really helpful. The main aims of a Driving Assistance System are to improve the security of the driver, passengers, and other road users. Driving is a complex activity, where the interactions between the driver, the vehicle, and the environment are continuous and numerous. The vehicle moves in a dynamic environment, so the Driving Assistance System, for its diagnosis, needs a map that represents as well as possible the actual situation of this environment. This paper presents a multi-sensor fusion module embedded in a real vehicle. The problem considered here is the dynamic reconstruction of the environment of the vehicle, based on measurements of a set of sensors.