A confidence measure for vehicle tracking based on a generalization of Bayes estimation

In safety-critical driver assistance systems such as automatic emergency braking that require the estimation of the vehicle's environment usually a measure of confidence or probability of existence for tracked objects is required. We review and assess existing approaches of obtaining such measures. We propose a new method of computing a probability of existence by relaxing the underlying assumption of a Bayes estimator. The benefits of this approach compared to a standard Bayes estimator are demonstrated and illustrated by experimental results.