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Urban Vulnerable Road User Localization using GNSS, Inertial Sensors and Ultra-Wideband Ranging

Ponte Müller, Fabian and Munoz Diaz, Estefania and Perul, Johan and Renaudin, Valerie (2020) Urban Vulnerable Road User Localization using GNSS, Inertial Sensors and Ultra-Wideband Ranging. In: 31st IEEE Intelligent Vehicles Symposium, IV 2020. 2020 IEEE Intelligent Vehicles Symposium, 20.-23. Okt. 2020, Las VEgas, USA. ISBN 978-1-7281-6673-5. ISSN 2642-7214.

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Over the last decade, the number of accidents involving Vulnerable Road Users (VRU), i.e. pedestrians, cyclists and motorbike drivers, has not decreased in the same way as accidents between passenger cars have. Cooperative systems based on Vehicle-to-X (V2X) communication make it possible to directly exchange information between VRUs and vehicles and to increase the overall situational awareness beyond the capabilities of on-board ranging sensors. To detect and avoid collisions, vehicles require up-to-date and precise information on the location and trajectory of VRUs. In this paper, we propose a VRU localization system based on Global Navigation Satellite System (GNSS), inertial sensors and ultra-wideband (UWB) round-trip-delay ranging technology. We present an exhaustive measurement campaign comprising pedestrians, cyclists and vehicles performed in an urban setting and show first results on the localization performance for a pedestrian crossing an intersection. In the experiments, the pedestrian inertial system supported by GNSS and UWB ranges is able to achieve 0.65m 1\sigma-position accuracy.

Item URL in elib:https://elib.dlr.de/134960/
Document Type:Conference or Workshop Item (Speech)
Title:Urban Vulnerable Road User Localization using GNSS, Inertial Sensors and Ultra-Wideband Ranging
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Ponte Müller, FabianFabian.PonteMueller (at) dlr.deUNSPECIFIED
Munoz Diaz, EstefaniaEstefania.MunozDiaz-Ropero (at) dlr.deUNSPECIFIED
Perul, Johanjohan.perul (at) ifsttar.frUNSPECIFIED
Renaudin, Valerievalerie.renaudin (at) ifsttar.frUNSPECIFIED
Date:October 2020
Journal or Publication Title:31st IEEE Intelligent Vehicles Symposium, IV 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:VRU, UWB, GNSS, ITS, road safety, pedestrian localization
Event Title:2020 IEEE Intelligent Vehicles Symposium
Event Location:Las VEgas, USA
Event Type:international Conference
Event Dates:20.-23. Okt. 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - NGC KoFiF
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Ponte Müller, Fabian
Deposited On:19 May 2020 17:56
Last Modified:07 Mar 2022 18:42

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