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A method of vehicle-infrastructure cooperative perception based vehicle state information fusion using improved kalman filter

  • 1193: Intelligent Processing of Multimedia Signals
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Abstract

For the purpose of overcoming the technical bottlenecks and limitations of autonomous vehicles on the information perception, and improving the sensing range and performance of vehicle driving environment and traffic information, a framework of vehicle-infrastructure cooperative perception for the Cooperative Automated Driving System is proposed in this paper. Taking the vehicle state information as an example, it also introduced a calculation method of data fusion for vehicle-infrastructure cooperative perception. Besides, considering that the intelligent roadside equipment may appear short-term sensing failure, the proposed method improved the traditional Kalman Filter to output position information even when the roadside fails. Compared with the vehicle-only perception, the simulation experiments verified that the proposed method could improve the average positioning accuracy under the normal condition and the intelligent roadside failure by 18% and 19%, respectively. The proposed framework provided a solution for coordinating and fusing perception intelligence and functions between connected automated vehicles, intelligent infrastructure and intelligent control system. The proposed improved Kalman Filter method provides flexible strategies for practical application.

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Acknowledgments

The work presented in this paper was funded by National Key R&D Program of China under Grants 2018YFB1600600.

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Authors and Affiliations

  1. Wuhan University of Technology, Wuhan, China

    Yanghui Mo, Peilin Zhang & Zhijun Chen

  2. University of Wisconsin at Madison, Madison, WI, USA

    Bin Ran

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  1. Yanghui Mo
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  2. Peilin Zhang
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  3. Zhijun Chen
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  4. Bin Ran
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Correspondence to Peilin Zhang or Zhijun Chen.

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Mo, Y., Zhang, P., Chen, Z. et al. A method of vehicle-infrastructure cooperative perception based vehicle state information fusion using improved kalman filter. Multimed Tools Appl 81, 4603–4620 (2022). https://doi.org/10.1007/s11042-020-10488-2

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  • DOI: https://doi.org/10.1007/s11042-020-10488-2

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