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.
|Title of host publication||3rd IFAC Symposium on Telematics Applications, TA 2013 - Proceedings|
|Number of pages||4|
|Publication status||Published - 2013|
|Event||3rd IFAC Symposium on Telematics Applications, TA 2013 - Seoul, Korea, Republic of|
Duration: 2013 Nov 11 → 2013 Nov 13
|Name||IFAC Proceedings Volumes (IFAC-PapersOnline)|
|Other||3rd IFAC Symposium on Telematics Applications, TA 2013|
|Country||Korea, Republic of|
|Period||13/11/11 → 13/11/13|
Bibliographical noteFunding Information:
★This work was supported by “Development of Active/Passive Safety Integrated System for Accident Prevention and Injury Reduction” (Grant number:10042676) of the Ministry of Science, ICT & Future Planning, Republic of Korea.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering