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EU_MAVEN D3.2: Cooperative environment perception algorithms

Dariani, Reza and Leich, Andreas and Schindler, Julian and Rondinone, Michele and Walter, Thomas and Matheis, Dominik (2019) EU_MAVEN D3.2: Cooperative environment perception algorithms. Project Report.

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Abstract

This document describes the project achievements in cooperative perception algorithm development and testing. An overview of the building blocks, vehicle setups and embeddings of the perception algorithms into the test vehicle architectures used within the experiments at DLR and HMETC is given. A review of the state-of-the-art outlines the different levels of sophistication that are known from literature for the association and data fusion steps of a cooperative environment perception algorithm and reflects recent developments in the field. Real time algorithms are explained that were used in the experiments and demonstrations at the HMETC test site with both HMETC and DLR vehicles involved. Fusion experiments demonstrate detection and perception of a pedestrian not in sight of the ego vehicle sensors via a collective perception (CPM) message and combining of position estimates received via a cooperative awareness message (CAM) with the sensor detections of a test vehicle. Based on the results of the state-of-the-art review, an advanced fusion algorithm is proposed and its performance in urban traffic scenarios as well as Monte Carlo simulation scenarios evaluated. Conclusions are drawn for cooperative perception algorithm development and testing. This deliverable serves (in combination with D3.3) as basis for the testing done in WP6 with its upcoming deliverable D6.4 and the evaluation done in WP7 with its upcoming deliverable D7.2. The developments, experiments and evaluations presented in this deliverable have been executed by the MAVEN project partners HMETC and DLR in tight cooperation.

Item URL in elib:https://elib.dlr.de/127458/
Document Type:Monograph (Project Report)
Title:EU_MAVEN D3.2: Cooperative environment perception algorithms
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Dariani, RezaReza.Dariani (at) dlr.deUNSPECIFIED
Leich, Andreasandreas.leich (at) dlr.dehttps://orcid.org/0000-0001-5242-2051
Schindler, Julianjulian.schindler (at) dlr.dehttps://orcid.org/0000-0001-5398-8217
Rondinone, MicheleMRondinone (at) hyundai-europe.comUNSPECIFIED
Walter, ThomasTWalter (at) hyundai-europe.comUNSPECIFIED
Matheis, DominikUNSPECIFIEDUNSPECIFIED
Date:2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:MAVEN
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Transport System
DLR - Research area:Transport
DLR - Program:V VS - Verkehrssystem
DLR - Research theme (Project):V - Zukunftsbilder eines automatisierten integrierten Verkehrssystems
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems
Deposited By: Dariani, Dr.-Ing. Reza
Deposited On:20 Jan 2020 14:25
Last Modified:27 Apr 2020 21:23

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