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Survey on Ranging Sensors and Cooperative Techniques for Relative Positioning of Vehicles

机译：车辆相对定位测距传感器及合作技术综述

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摘要

Future driver assistance systems will rely on accurate, reliable and continuous knowledge on the position of other road participants, including pedestrians, bicycles and other vehicles. The usual approach to tackle this requirement is to use on-board ranging sensors inside the vehicle. Radar, laser scanners or vision-based systems are able to detect objects in their line-of-sight. In contrast to these non-cooperative ranging sensors, cooperative approaches follow a strategy in which other road participants actively support the estimation of the relative position. The limitations of on-board ranging sensors regarding their detection range and angle of view and the facility of blockage can be approached by using a cooperative approach based on vehicle-to-vehicle communication. The fusion of both, cooperative and non-cooperative strategies, seems to offer the largest benefits regarding accuracy, availability and robustness. This survey offers the reader a comprehensive review on different techniques for vehicle relative positioning. The reader will learn the important performance indicators when it comes to relative positioning of vehicles, the different technologies that are both commercially available and currently under research, their expected performance and their intrinsic limitations. Moreover, the latest research in the area of vision-based systems for vehicle detection, as well as the latest work on GNSS-based vehicle localization and vehicular communication for relative positioning of vehicles, are reviewed. The survey also includes the research work on the fusion of cooperative and non-cooperative approaches to increase the reliability and the availability.
机译：未来的驾驶员辅助系统将依赖于其他道路参与者（包括行人，自行车和其他车辆）位置的准确，可靠和连续的知识。解决此要求的常用方法是在车辆内部使用车载测距传感器。雷达，激光扫描仪或基于视觉的系统能够在其视线范围内检测物体。与这些非合作式测距传感器相比，合作式方法遵循的策略是其他道路参与者积极支持相对位置的估算。可以通过使用基于车对车通信的协作方法来解决车载测距传感器关于其检测范围和视角以及阻塞设施的限制。合作策略和非合作策略的融合似乎在准确性，可用性和鲁棒性方面提供了最大的好处。该调查为读者提供了有关车辆相对定位的不同技术的全面综述。读者将学习有关车辆的相对位置，可商购和当前正在研究的不同技术，其预期性能及其固有局限性的重要性能指标。此外，综述了基于视觉的车辆检测系统领域的最新研究，以及基于GNSS的车辆定位和车辆相对定位车辆通信的最新工作。该调查还包括合作与非合作方法融合以提高可靠性和可用性的研究工作。

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