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Cooperative Positioning and Radar Sensor Fusion for Relative Localization of Vehicles

De Ponte Müller, Fabian and Munoz Diaz-Ropero, Estefania and Rashdan, Ibrahim (2016) Cooperative Positioning and Radar Sensor Fusion for Relative Localization of Vehicles. In: 2016 IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium 2016, 2016-06-19 - 2016-06-22, Gothenburg, Schweden. doi: 10.1109/IVS.2016.7535520.

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Future advanced driver assistance systems require an accurate and up-to-date picture of the surrounding environment for applications such as forward collision assistants or adaptive cruise control. Today, the relative position of other objects with respect to the ego-vehicle is obtained with on-board ranging sensors, such as radar. By adding communication capabilities to future vehicles, cooperative approaches can offer a complementary source of relative position information. This paper proposes a fusion framework in which cooperative positioning information is fused with on-board radar sensor data. The easurement runs recorded on a highway and a rural road, demonstrate that the fusion of both information sources outperforms the positioning estimation using solely the Radar sensor. An assessment of the current standard for vehicular communication in real world driving nvironments shows that a cooperative approach is able to extend the perception range of radar sensors in non-Line-of-Sight situations.

Item URL in elib:https://elib.dlr.de/104262/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Cooperative Positioning and Radar Sensor Fusion for Relative Localization of Vehicles
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
De Ponte Müller, FabianUNSPECIFIEDhttps://orcid.org/0000-0002-2215-2174UNSPECIFIED
Rashdan, IbrahimUNSPECIFIEDhttps://orcid.org/0000-0001-9208-8078UNSPECIFIED
Date:June 2016
Journal or Publication Title:2016 IEEE Intelligent Vehicles Symposium
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Radar Vehicle Positioning Localization Cooperative C2C C2X V2X ITS-G5
Event Title:IEEE Intelligent Vehicles Symposium 2016
Event Location:Gothenburg, Schweden
Event Type:international Conference
Event Start Date:19 June 2016
Event End Date:22 June 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: de Ponte Müller, Dr. Fabian
Deposited On:18 May 2016 18:36
Last Modified:24 Apr 2024 20:09

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