Abstract
This paper presents a sensor which can be included in an Advanced Driver Assistance System (ADAS) that is compliant with the Vehicle to Infrastructure communication standard (V2I). This system allows estimation of the vehicle lateral position in real time by ensuring cooperation between an on-board vehicle system and passive transponders integrated in the lateral white strips of the road. Based on an optimization method, the lateral position vehicle is provided with a distance error less than 3 cm. In this paper, experimental results are presented in order to evaluate the robustness of the proposed system in a realistic environment. Three scenarios are considered to take into account the bitumen properties, the presence of parasitic reflectors in different positions around the system and the interaction between transponders.
Highlights
Because many traffic accidents are the consequence of a loss of control of the vehicle, variousAdvanced Driver Assistance Systems (ADAS) are developed in order to precisely measure in real time the lateral position of the vehicle in the traffic lane and to assist the driver by correcting the trajectory in case of run-off-road situations.Many Systems use optical sensors to detect the lateral white strips on the road [1,2,3]
The cooperative system described in [14] is composed of two components (Figure 1): an embedded vehicle system and passive transponders integrated in the road
The system presented is composed of electromagnetic reflectors integrated in the lateral white strip of the road and embedded sensors in the vehicle
Summary
Because many traffic accidents are the consequence of a loss of control of the vehicle, various. By combining vision systems with DGPS and other sensors one can improve in lane positioning [5] and more recently, “sensor data fusion” systems [6,7] estimate the position and the status (pitch, roll) of the vehicle. They present some improvement in adverse weather conditions. We describe a cooperative vehicle-infrastructure system whose principle is described in [13,14] It includes passive flat electromagnetic transponders integrated in the lateral white strips and an on-board system able to detect these transponders. Measurements were performed for all considered situations to verify whether the precision remains sufficient
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