Design, Implementation and Testing of a Real Time System to Unambiguously Assign Detected Vehicles from Car-to-Car Communication and on-Board Camera

Simone Fontanesi, Luca Fanucci, Frank Hofmann

Abstract

on-Board surround sensors, such as cameras and radars, are used in Advanced Driving Assistance Systems applications to improve the driver safety and comfort. In the meantime, Car-to-Car Communication systems are in the deployment phase and have been tested in huge test fields. In order to compensate the weaknesses and benefit from the strengths of both systems, their information can be fused. In this context, one major challenge is the unambiguous assignment of detected vehicles from different sensors, which is still an open research topic and the major target of this work. An innovative algorithm was first tested in Matlab using recorded data and then implemented on real hardware. The results obtained are promising and, from a spatial point of view, they show already a successful matching of vehicles. Compared with the solutions proposed in literature, the developed demonstrator is innovative, and represents the first step towards a real world application running in real time inside cars. Overall, this work is a useful contribution to active safety and autonomous driving applications based on sensor fusion and a good reference for further research on the topic.

References

  1. Baldessari, R., Bödekker, B., Brakemeier, A., Deegener, M., Festag, A., Franz, W., Hiller, A., Kellum, C., Kosch, T., Kovacs, A., Lenardi, M., Lübke, A., Menig, C., Peichl, T., Roeckl, M., Seeberger, D., Strassberger, M., Stratil, H., Vögel, H.-J., and Zhang, B. W. W. (2007). CAR 2 CAR Communication Consortium Manifesto. Technical report, CAR 2 CAR Communication Consortium.
  2. Bar-Shalom, Y. and Li, X.-R. (1993). Estimation and Tracking: Principles, Techniques, and Software. Artech House.
  3. Bar-Shalom, Y. and Li, X.-R. (1995). MultitargetMultisensor Tracking: Principles and Techniques. YBS Publing, 1st edition.
  4. Beauducel, F. (2014). ll2utm. http://www.mathworks.com/ matlabcentral/fileexchange/45699-ll2utm-and-utm2ll/ content/Codes/matlab/ll2utm.m. [Online; accessed 07-April-2015].
  5. European Telecommunications Standards Institute (2014). Etsi ts 102 894-2 v1.2.1: Intelligent Transport Systems (ITS); Users and applications requirements; Part 2: Applications and facilities layer common data dictionary. Technical Specification.
  6. Fuchs, H., Hofmann, F., Löhr, H., Schaaf, G., and KleineBesten, T. (2012). Car-2-X. In Winner, H., Hakuli, S., and Wolf, G., editors, Handbuch Fahrerassistenzsysteme: Grundlagen, Komponenten und Systeme für aktive Sicherheit und Komfort.
  7. Matthias Röckl and Jan Gacnik and Jan Schomerus (2008). Integration of Car-2-Car Communication as a Virtual Sensor in Automotive Sensor Fusion for Advanced Driver Assistance Systems. In FISITA 2008.
  8. Matthias R öckl and Thomas Strang and Matthias Kranz (2008). Demonstrator: V2V Communications in Automotive Multi-sensor Multi-target Tracking. In 2nd IEEE International Symposium on Wireless Vehicular Communications.
  9. Mobileye (2015). http://www.mobileye.com/ [Online; accessed 05-May-2015].
  10. Obst, M., Hobert, L., and Reisdorf, P. (2014). Multi-Sensor Data Fusion for Checking Plausibility of V2V Communications by Vision-based Multiple-Object Tracking. In 2014 IEEE Vehicular Networking Conference (VNC).
  11. OpenStreetMap (2015). https://www.openstreetmap.org/. [Online; accessed 06-May-2015].
  12. OSGi Alliance (2015). http://www.osgi.org/Main/HomePa ge. [Online; accessed 01-June-2015].
  13. Robert Bosch GmbH (2015). http://life.bosch.com.cn/ebro chures2015/automated/cc/da/mpc2/datenblatt mpc2 en.pdf. [Online; accessed 07-July-2015].
  14. Robin Schubert and Christian Adam and Marcus Obst and Norman Mattern and Veit Leonhardt and Gerd Wanielik (2011). Empirical Evaluation of Vehicular Models for Ego Motion Estimation. In IEEE Intelligent Vehicles Symposium (IV).
  15. SimTD (2008). http://www.simtd.de/index.dhtml/enEN/in dex.html. [Online; accessed 07-April-2015].
  16. Snyder, J. P. (1987). Map Projections: A Working Manual. Technical report, U.S. Geological Survey.
  17. Stein, G. P., Mano, O., and Shashua, A. (2003). Visionbased ACC with a Single Camera: Bounds on Range and Range Rate Accuracy. In IEEE Intelligent Vehicles Symposium.
  18. Thomaidis, G., Vassilis, K., Lytrivis, P., Tsogas, M., Karaseitanidis, G., and Amditis, A. (2011). Target Tracking and Fusion in Vehicular Networks. In 2011 IEEE Intelligent Vehicles Symposium (IV).
  19. William J. Fleming (2008). New Automotive Sensors - A Review. In IEEE Sensors Journal, VOL. 8, NO. 11.
  20. X. Rong Li and Vesselin P. Jilkov (2004). Survey of Maneuvering Target Tracking. Part I: Dynamic Models. In IEEE Transactions on Aerospace and Electronic Systems.
Download


Paper Citation


in Harvard Style

Fontanesi S., Fanucci L. and Hofmann F. (2016). Design, Implementation and Testing of a Real Time System to Unambiguously Assign Detected Vehicles from Car-to-Car Communication and on-Board Camera . In Proceedings of the International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-185-4, pages 20-30. DOI: 10.5220/0005761200200030


in Bibtex Style

@conference{vehits16,
author={Simone Fontanesi and Luca Fanucci and Frank Hofmann},
title={Design, Implementation and Testing of a Real Time System to Unambiguously Assign Detected Vehicles from Car-to-Car Communication and on-Board Camera},
booktitle={Proceedings of the International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2016},
pages={20-30},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005761200200030},
isbn={978-989-758-185-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Design, Implementation and Testing of a Real Time System to Unambiguously Assign Detected Vehicles from Car-to-Car Communication and on-Board Camera
SN - 978-989-758-185-4
AU - Fontanesi S.
AU - Fanucci L.
AU - Hofmann F.
PY - 2016
SP - 20
EP - 30
DO - 10.5220/0005761200200030