Authors:
Simone Fontanesi
1
;
Luca Fanucci
2
and
Frank Hofmann
3
Affiliations:
1
University of Pisa and Robert Bosch GmbH, Italy
;
2
University of Pisa, Italy
;
3
Robert Bosch GmbH, Germany
Keyword(s):
Car-to-Car Communication, on-Board Sensors, Camera, Sensor Fusion, ADAS, Real Time.
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.
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