Repository logo
 
Publication

Inter-vehicle sensor fusion for accurate vehicle localization supported by V2V and V2I communications

2012-09Book part Restricted access
Simple item page
dc.contributor.authorConde Bento, Luis
dc.contributor.authorParafita, Ricardo
dc.contributor.authorNunes, Urbano
dc.date.accessioned2025-11-06T16:23:02Z
dc.date.available2025-11-06T16:23:02Z
dc.date.issued2012-09
dc.description.abstractCooperative driving system techniques aim to minimize accidents, traffic congestion and consequently the environmental costs of road traffic. An accurate vehicle's pose is of extreme importance for the inner working of the traffic management systems. An agent based traffic simulator was developed integrating typical automotive sensors, vehicle-tovehicle (V2V) and vehicle-to-infrastructure (V2I) communications, vehicle's agent and infrastructure agent. In this paper, we propose to further enhance a multi-sensor localization algorithm in environments where V2V and V2I communication is possible. This paper describes an inter-vehicle sensor fusion for an accurate vehicle positioning, where each vehicle is modeled by an agent, and each agent provides information depending on its vehicle sensors. In the first fusion stage, data from four wheel encoders and one steering encoder are fused by means of an EKF, providing robust odometric information, namely in face of undesirable effects of wheels slippage. Next, a second fusion stage is processed for integrating odometric and inter-vehicle absolute positioning data.eng
dc.description.sponsorshipThis work was partially supported by the Portuguese Foundation for Science and Technology (FCT) under grant PTDC/SEN-TRA099413/2008 (EVSIM09 Project).
dc.identifier.citationL. C. Bento, R. Parafita and U. Nunes, "Inter-vehicle sensor fusion for accurate vehicle localization supported by V2V and V2I communications," 2012 15th International IEEE Conference on Intelligent Transportation Systems, Anchorage, AK, USA, 2012, pp. 907-914, doi: 10.1109/ITSC.2012.6338889.
dc.identifier.doi10.1109/itsc.2012.6338889
dc.identifier.isbn978-146733064-0
dc.identifier.urihttp://hdl.handle.net/10400.8/14544
dc.language.isoeng
dc.peerreviewedn/a
dc.publisherIEEE
dc.relation.hasversionhttps://ieeexplore.ieee.org/document/6338889
dc.relation.ispartof2012 15th International IEEE Conference on Intelligent Transportation Systems
dc.rights.uriN/A
dc.titleInter-vehicle sensor fusion for accurate vehicle localization supported by V2V and V2I communicationseng
dc.typebook part
dspace.entity.typePublication
oaire.citation.conferenceDate2012
oaire.citation.endPage914
oaire.citation.startPage907
oaire.citation.title2012 15th International IEEE Conference on Intelligent Transportation Systems, ITSC 2012
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
person.familyNameConde Bento
person.givenNameLuis
person.identifier.ciencia-idFE12-AAD0-3AB3
person.identifier.orcid0000-0002-9689-3637
person.identifier.ridF-7888-2013
person.identifier.scopus-author-id14070145000
relation.isAuthorOfPublication0cfbb9a8-48d2-4547-bc90-01cde9d31be0
relation.isAuthorOfPublication.latestForDiscovery0cfbb9a8-48d2-4547-bc90-01cde9d31be0

Files

Original bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
Inter-vehicle_sensor_fusion_for_accurate_vehicle_localization_supported_by_V2V_and_V2I_communications.pdf
Size:
2.45 MB
Format:
Adobe Portable Document Format
Download

Collections

ESTG - Comunicações em conferências e congressos internacionais