Vehicle tracking system for intelligent and connected vehicle based on radar and V2V fusion

The environment perception plays a significantly role in intelligent vehicles and the advanced driver assistance system (ADAS), which enhances the driving safety and convenience. Target tracking is one of the key technologies of environment perception. The on-board sensors such as cameras and radar are commonly used for target tracking while they have limitations in terms of detection range and angle of view. One way to overcome the perception limitations of on-board ranging sensors by incorporating the vehicle-to-vehicle (V2V) communication. This paper proposes a vehicle tracking system which fuse the radar and V2V information to improve the target tracking accuracy. The proposed system integrates the radar, GPS and DSRC communication equipment. The GPS and radar are utilized to obtain its own position information and the position information of nearby vehicles. The proposed system also resolves the problem of data association in multiple target tracking measurements by other connected vehicles' identity information. With the association measurements, a Kalman filter is used to improve the accuracy of target tracking. An assessment of tracking system in real road environment shows that the proposed fusion approach for target tracking can reduce the data association error and improve the vehicle target tracking accuracy.