Vehicles in the near future will be equipped with dedicated short-range communications (DSRC) transceiver which holds great promise of significantly reducing vehicle collisions by enabling vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications. In addition, modern vehicles will be equipped with different on-board sensors such as GPS receivers and ranging sensors (e.g., cameras, radars, and lidars). Using these technologies, this paper proposes a comprehensive system design to improve the positioning of a host vehicle based on Kalman filters. In this approach, the host vehicle fuses its own position information obtained by the on-board GPS receiver with position information of nearby vehicles collected by the on-board ranging sensor(s) and the messages received via the DSRC transceiver from other equipped vehicles. This process also involves performing track matching using a multi-sensor multi-target track association algorithm. We provide insights on the system design and present simulation results that show significant performance gains of the proposed method in terms of localization accuracy and matching accuracy.
Cooperative localization via DSRC and multi-sensor multi-target track association
01.11.2016
457813 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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