Connected Cars: GPS-OBD Sensor Fusion with Radio Communication

This paper proposes a decentralized wireless frame-work that enables vehicles to collaboratively transmit and receive data such as position, velocity, and acceleration to other nearby vehicles to mitigate and avoid traffic collisions in real time with-out the dependence on optical sensors or cellular infrastructure. Within this framework, the system runs a prediction algorithm based on kinematic equations under several scenarios, a TDMA-based timeout mechanism to prevent radio signal clashes, and Kalman filters that fuse real-time GPS and OBD data in order to correct the error from the G PS sensors and the drift from the OBD sensors and improve data accuracy over time.