V2V Method and Apparatus for Relative Vehicle State Estimation with V2V and Radar

摘要

A method and apparatus for estimating a relative vehicle state using V2V and radar are presented. The method for estimating a relative vehicle state using V2V and radar proposed in the present invention comprises obtaining an absolute coordinate system state using GPS and V2V, and obtaining a relative coordinate state using radar, and an absolute coordinate system state obtained from GPS and V2V And converting the state of the host vehicle to the relative coordinate system state and estimating the relative vehicle state by fusing the converted relative coordinate state and the relative coordinate system state obtained from the radar with a Kalman filter.