Fusion of cooperative localization data with dynamic object information using data communication for preventative vehicle safety applications

[摘要] Cooperative sensors allow for reliable detection, classification andlocalization of objects in the vehicle's surroundings – even without aline-of-sight contact to the object. The sensor principle is based on acommunication signal between the vehicle and a transponder attached to theobject of interest – a pedestrian, for example. Thereby, localizationinformation is gathered by measuring the round-trip time-of-flight (RTOF) andevaluating the angle-of-arrival (AOA) of the incident signal. After that,tracking algorithms are used to recover the kinematic state of the objectproviding a basis for situation assessment. This paper investigatespossibilities and benefits of extending this principle by the communicationof information from inertial sensors which are locally attached to thetransponder. Furthermore, this paper presents a robust approach for fusingthe localization data with dynamic object information using theDempster-Shafer theory. The approach is evaluated by performing real-worldexperiments for the analysis of pedestrian accidents.

[学科分类] 电子、光学、磁材料