Baek Minjin, Mun Jungwi, Kim Woojoong, Choi Dongho, Yim Janghyuk, Lee Sangsun
Department of Electronics and Computer Engineering, Hanyang University, Seoul 04763, Korea.
Department of Automotive Electronics and Control Engineering, Hanyang University, Seoul 04763, Korea.
Sensors (Basel). 2021 Mar 7;21(5):1860. doi: 10.3390/s21051860.
Driving environment perception for automated vehicles is typically achieved by the use of automotive remote sensors such as radars and cameras. A vehicular wireless communication system can be viewed as a new type of remote sensor that plays a central role in connected and automated vehicles (CAVs), which are capable of sharing information with each other and also with the surrounding infrastructure. In this paper, we present the design and implementation of driving environment perception based on the fusion of vehicular wireless communications and automotive remote sensors. A track-to-track fusion of high-level sensor data and vehicular wireless communication data was performed to accurately and reliably locate the remote target in the vehicle surroundings and predict the future trajectory. The proposed approach was implemented and evaluated in vehicle tests conducted at a proving ground. The experimental results demonstrate that using vehicular wireless communications in conjunction with the on-board sensors enables improved perception of the surrounding vehicle located at varying longitudinal and lateral distances. The results also indicate that vehicle future trajectory and potential crash involvement can be reliably predicted with the proposed system in different cut-in driving scenarios.
自动驾驶车辆的驾驶环境感知通常通过使用汽车远程传感器（如雷达和摄像头）来实现。车辆无线通信系统可被视为一种新型远程传感器，在车联网和自动驾驶车辆（CAV）中发挥核心作用，这类车辆能够相互之间以及与周围基础设施共享信息。在本文中，我们展示了基于车辆无线通信与汽车远程传感器融合的驾驶环境感知的设计与实现。对高级传感器数据和车辆无线通信数据进行了轨迹到轨迹的融合，以准确可靠地定位车辆周围的远程目标并预测未来轨迹。所提出的方法在试验场进行的车辆测试中得到了实施和评估。实验结果表明，将车辆无线通信与车载传感器结合使用，能够改善对位于不同纵向和横向距离处周围车辆的感知。结果还表明，在所提出的系统中，在不同的切入驾驶场景下，可以可靠地预测车辆的未来轨迹和潜在碰撞情况。
