Robust Localization and Tracking of VRUs with Radar and Ultra-Wideband Sensors for Traffic Safety

Abstract

The increasing risk to Vulnerable Road Users (VRUs) in urban environments, especially at intersections, necessitates advanced safety mechanisms that can operate effectively under diverse and complex conditions including but limited to heavy rain. This paper presents a novel approach to enhancing VRU protection by integrating radar sensors and Ultra-Wideband (UWB) technology, which is a candidate technology for Joint Communication and Sensing (JCS), through sensor fusion. The research, conducted under the VIDETEC-2 project, addresses the limitations of existing vehicle-based and infrastructure-based systems, particularly in scenarios involving occlusions and blind spots. By leveraging the robustness of radar in various environmental conditions and the precision and cost effectiveness of UWB in short-range communication and localization, the proposed system significantly improves the detection and tracking of VRUs within a cost-effective framework. The fusion of these sensor modalities, managed through a hybrid Kalman filter approach, where it integrates the Unscented Kalman Filter (UKF) and the Extended Kalman Filter (EKF), to ensure reliable VRU tracking even in challenging urban scenarios. The experimental results demonstrate a reduction in tracking uncertainty and highlight the system's potential to serve as a more accurate and responsive safety mechanism for VRUs at intersections. This work contributes to the development of intelligent road infrastructures, laying the foundation for future advancements in urban traffic safety.