Cooperative Positioning and Radar Sensor Fusion for Relative Localization of Vehicles

Kurzfassung

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.