Particle Filters for an Accurate Localization of Communicant Vehicles

摘要

This paper presents an accurate localization strategy for vehicles in urban environments by using the communication between vehicles and the vision systems when GPS data is unavailable or has a poor quality of signal due to multi-tracks or bad satellite visibility. The new generation of the advanced driver assistance systems (ADAS systems) based on cooperation between vehicles can offer serious perspectives to the road security. The inter-vehicle cooperation is made possible thanks to the revolution in the wireless mobile ad hoc network. The method relies on the Monte Carlo Method or what we call a particle filter for the treatment of the GPS data and the vision data that will be collected from the loading system in the vehicles. From the modelling point of view, a particularity of the method is due to the use of vision systems and the communication through a wireless communication devices. The experiments on our fleet of communicating vehicles carried out in real conditions prove the feasibility of this approach.