Enabling Cooperative Automated Driving by Multi-Sensor Data,Fusion with V2V Communication

Automated vehicles require an adequate and reliable perception of the surrounding world in order to make good decisions. Using vehicle-to-vehicle (V2V) communication to exchange location data (i.e. time, position, heading and speed) can improve the perception beyond the capabilities of traditional on-board sensors (e.g. radar, lidar). In this paper the authors present a multiobject tracking system with an enhanced surveillance area by integrating V2V communication. The system is addressing the challenge of fusing relative sensor observations as provided by a MobilEye vision-system with absolute GNSS-based measurements from Cooperative Awareness Messages (CAMs) as provided by V2V. The data fusion is implemented in a prototype and based on a state-of-the-art multiple-object tracking algorithm. The proposed system is evaluated under real-world conditions by conducting several test drives under urban conditions.

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  • Supplemental Notes:
    • Abstracts used with permission of ERTICO – ITS Europe.
  • Corporate Authors:

    ERTICO - ITS Europe

    Avenue Louise 326, Blue Tower, 2nd Floor
    Brussels,   Belgium  B-1050
  • Authors:
    • Obst, Marcus
    • Reisdorf, Pierre
  • Conference:
  • Publication Date: 2015


  • English

Media Info

  • Media Type: Digital/other
  • Features: Figures; Photos; References;
  • Pagination: 17p
  • Monograph Title: 22nd ITS World Congress. Proceedings

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Filing Info

  • Accession Number: 01603249
  • Record Type: Publication
  • Report/Paper Numbers: ITS-2536
  • Files: TRIS
  • Created Date: Jun 17 2016 8:46AM