- Functional Requirements
a) Operate independently of other systems
b) Synchronize Stereo Camera and Radar systems
c) Perceive long and short range simultaneously
d) Track object with size, position, and velocity
e) Classify vehicles and pedestrians
f) Estimate vehicle egomotion
- Non-functional requirements
The non-functional requirement requirements are categorized as Mandatory (M) or Desirable (D), as well as Performance (P) and Non-functional (N).
Table 2. Non-functional requirement details
| ID | Title |
Description |
| M.N1 | Works in real-time | The system will work in real-time |
| D.N1
|
Weather-proof | The system will be robust in all weather conditions (including rain, fog, snow, etc.) |
| D.N2 | Functions in all lighting conditions | The system will work properly in all kinds of lighting environments (including strong sun light, daylight, night, etc.) |
| D.N3
|
Concealable within the vehicle | The system will be concealable totally in the car body |
| D.N4
|
Compatible with vehicle display systems | The system will be able to be integrated into the already existing vehicle display systems |
- Performance requirements
Our system’s performance requirements are categorized as Mandatory (M) or Desirable (D) according to our project definition and goals (Table 1). These requirements have been updated since the start of the project. As mentioned in the earlier sections, we had to slightly reduce the scope of the project and therefore realistically reassess our performance requirements. Fusion of stereo vision and radar data should work in the short range, up to ~30 meters away. Objects in this proximity should be detected by both sensor subsystems, while full-range detection and tracking of vehicles should be done by the radar subsystem. To allow for real-time performance, the data from all the sensors must be synchronized with each other.
Table 1. Performance requirement details
| ID | Description |
| M.P1 | The system shall detect and classify pedestrians within at least 20 meters |
| M.P2 | The system shall detect and classify vehicles within at least 50 meters |
| M.P3 | The system shall acquire raw data from all sensors at 5 Hz or higher |
| M.P4 | The system shall detect objects with an accuracy of at least 50% |
| M.P5 | The system shall classify objects with an accuracy of at least 60% |
| M.P6 | The system shall synchronize the sensors to acquire inputs within 20 ms of each other. |
| D.P6 | The system shall find the position and velocity of the test car with an accuracy of at least 80% |
| D.P7 | The system shall find positions and velocities of objects with an accuracy of at least 80% |