相关论文: A GPS Pseudorange Based Cooperative Vehicular Dist…
The development of cooperative vehicle safety (CVS) applications, such as collision warnings, turning assistants, and speed advisories, etc., has received great attention in the past few years. Accurate vehicular localization is essential…
Global Navigation Satellite Systems (GNSS) are a widely used technology for positioning and navigation. GNSS positioning relies on pseudorange measurements from satellites to receivers. A pseudorange is the apparent distance between two…
Dedicated short-range communication (DSRC) enables vehicular communication using periodic broadcast messages. We propose to use these periodic broadcasts to perform inter-vehicle ranging. Motivated by this scenario, we study the general…
The application of cooperative localization in vehicular networks is attractive to improve accuracy and coverage. Conventional distance measurements between vehicles are limited by the need for synchronization and provide no heading…
In Differential GNSS (DGNSS) positioning, differencing measurements between a user and a reference station suppresses common-mode errors but also introduces reference-station noise, which fundamentally limits accuracy. This limitation is…
Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where…
Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…
A major challenge in cooperative sensing is to weight the measurements taken from the various sources to get an accurate result. Ideally, the weights should be inversely proportional to the error in the sensing information. However,…
Perception of other road users is a crucial task for intelligent vehicles. Perception systems can use on-board sensors only or be in cooperation with other vehicles or with roadside units. In any case, the performance of perception systems…
High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…
We perform an extensive study of cooperative awareness in vehicular communication based on periodic message exchange. We start by analyzing measurements collected on four test sites across Europe. To measure cooperative awareness, we use…
Vehicle-to-Vehicle (V2V) communication using Dedicated Short Range Communications (DSRC) technology provides promising benefits for drastically reducing vehicle collisions. A decentralized approach combined with DSRC allow vehicles in a…
In a time-of-arrival (TOA) or pseudorange based positioning system, user location is obtained by observing multiple anchor nodes (AN) at known positions. Utilizing more than one positioning systems, e.g., combining Global Positioning System…
There is an increasing popularity in exploiting modern vehicles as mobile sensors to obtain important road information such as potholes, black ice and road profile. Availability of such information has been identified as a key enabler for…
Wide-range and fine-grained vehicle detection plays a critical role in enabling active safety features in intelligent driving systems. However, existing vehicle detection methods based on rectangular bounding boxes (BBox) often struggle…
Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) positioning of a group of vehicles to improve the standalone localization accuracy. It has been shown to reduce GNSS error from several meters to sub-meter…
The demand for accurate localization has risen in recent years to enable the emerging of autonomous vehicles. To have these vehicles in the traffic ecosystem of smart cities, the need for an accurate positioning system is emphasized. To…
Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant…
Accurate vehicular sensing is a basic and important operation in autonomous driving. Unfortunately, the existing techniques have their own limitations. For instance, the communication-based approach (e.g., transmission of GPS information)…
This paper offers a technique for estimating collision risk for automated ground vehicles engaged in cooperative sensing. The technique allows quantification of (i) risk reduced due to cooperation, and (ii) the increased accuracy of risk…