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

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.