Intervehicular sensor fusion for situation awareness

Baehoon Choi, Jhonghyen An, Beomseong Kim, Euntai Kim

Research output: Contribution to journalConference article


The intelligent vehicles equipped with sensors may have an ability to recognize the environment and make a safe and efficient decision. This paper proposes the intervehicular sensor fusion system for tracking the nearby objects. The proposed system gathers information from nearby vehicles and returns more exact and precise information about the environment. The system is implemented by hierarchical joint probabilistic data association (JPDA) filter. In the first layer, the hierarchical JPDA filter tracks vehicles first. In the second layer, the obstacles are tracked using the measurements from the vehicles. This system improves the tracking performance by tracking targets which are not seen by an ego vehicle but seen by another vehicle. To verify the effect of the system, the simulation results are given.

Original languageEnglish
Pages (from-to)79-82
Number of pages4
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue numberPART 1
Publication statusPublished - 2013 Jan 1
Event3rd IFAC Symposium on Telematics Applications, TA 2013 - Seoul, Korea, Republic of
Duration: 2013 Nov 112013 Nov 13


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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