The aim of this paper is to propose a collaborative perception system in order to avoid potential vehicle collisions. We present a basic system where vehicles ensure their own localization using a global positioning system with a Kalman filtering process. This information and the velocity data are broadcasted via a wireless network to its neighbours. Moreover, some of the vehicles are equipped with telemetric sensors, thus they can supply a direct perception of their surrounding environment and update the knowledge given by the network. If a potential collision is detected, the vehicles are brought under speed control. We analyse the results and the limits of this system. All results are validated via an extended perception simulator.


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    Title :

    Collaborative perception for collision avoidance


    Contributors:
    Mourllion, B. (author) / Lambert, A. (author) / Gruyer, D. (author) / Aubert, D. (author)


    Publication date :

    2004


    Size :

    6 Seiten, 13 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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