Sensing the environment for future driver assistance combining autonomous
and cooperative appliances
Fourth International Workshop on Vehicle-to-Vehicle Communications
(V2VCOM) 2008, page 45--56. (June 2008)Abstract
Current driver assistance systems such as Adaptive Cruise Control
(ACC) and in particular future assistance systems (e.g. Collision
Warning) make high demands on reliability of detection and ranging
methods for vehicles within their vicinity. Autonomous systems such
as Radar which are already integrated into a multitude of vehicles
meet these requirements to only a limited extent. As an alternative,
cooperative systems for detection and ranging will be enabled by
future Vehicle-2-Vehicle communication. But even if the technology
is deployed in every vehicle, cooperative detection and ranging also
has drawbacks regarding reliability due to positioning and transmission
errors if it is applied in a standalone way. Thus, the solution presented
in this paper is a hybrid approach combining autonomous and cooperative
methods for detection and ranging within a common architecture. A
particle filter is used for state estimation. The results are a higher
detection effectiveness and a lower position error compared to using
standalone autonomous or cooperative detection and ranging methods.