Sensor Fusion for Vehicular Networks

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Grand cooperative driving challenge (GCDC) is ... I am very much indebted to the whole GCDC Chalmers team for making this journey a .... passive safety systems such as air-bags and seatbelts are a norm from quite some time. ... According to a report in 2003 [13], drivers are the reason for accidents with injured people in.
Sensor Fusion for Vehicular Networks Master Thesis in Communication Engineering

Naga VishnuKanth Irukulapati Department of Signals & Systems Chalmers University of Technology Gothenburg, Sweden 2011 Master’s Thesis 2011:1

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."'13-4 $-". 5".*$ .$ *-.5& -$ 6"&*.7$ 6&)&.6

9".:; " '&5#'*-,&3< &*$-1 $& $0& *$ $& "% $0& 65) p(x0 , x1 , ....xk−1 , xk , z1 ....., , zk−1 , zk ) = p(x0 )

k Y

p(zi |xi ) p(xi |xi−1 )

A&'&'BC

i=1

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p(zk |xk ) p(xk |Z1:k−1 ) p(zk |xk , Z1:k−1 ) p(xk |Z1:k−1 ) = p(zk |Z1:k−1 ) p(zk |Z1:k−1 )

A&'&'JC

98%$% Z1:k = {z1 , z2 , ....zk } !6 78% 2%.6#$%2%,7 1%@70$' p(zk |xk ) $%3.7%6 78% 2%.6#$%2%,7 .7 7!2% !,67.,7 / 70 78% 67.7% .7 7!2% / .,+ !6 78% 3!/%3!800+ ?#,@7!0,' p(xk |Z1:k−1 ) "!1%6 . @0,,%@7!0, >%79%%, 78% @#$$%,7 67.7% >.6%+ 0, 78% =.67 2%.6#$%2%,76 .,+ @., >% @02=#7%+ #6!,") p(xk |Z1:k−1 ) =

ˆ

p(xk |xk−1 , Z1:k−1 ) p(xk−1 |Z1:k−1 ) dxk−1 =

ˆ

p(xk |xk−1 ) p(xk−1 |Z1:k−1 ) dxk−1

A&'&'KC

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Sk = Hk Pk|k−1 Hk + Rk

456L678

("# Kk !1 %&' >()/(" $(!" ("# &(1 (" !/0-.%("% .-)' !" /(@!"$ ( %.(#'-S 2'%
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2

2











Q = E{Gvk vk G } = GE{vk vk }G = Gσv2 G =

"

T3 2 2

T4 4 T3 2

T

#

σv2

*)!0'& "% -/K'&'*$ :&".'## !"-'+# .3* 0' #''* /* @H8 A8 MB> !"!#

$%&'()%*%+, *-.%/

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4G>H>AP7

Q* $1' R3-3& #,#$'!8 C'*'&3++, $1' R3-3& :&"2/-'# !'3#)&'!'*$# #).1 3# &3*C'8 3H>AA7 + = zk = p wφ φ k

k

arctan( pxyk ) k

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01-/(,2-+ -3 4.35'

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= =

Ak−1 x ˆk−1|k−1 + dk−1 = fk−1 (ˆ xk−1|k−1 ) ′

Ak−1 Pk−1|k−1 Ak−1 + Qk−1

56787M: 567879N:

U pdate step : x ˆk|k Pk|k

x ˆk|k−1 + Kk (zk − gk (ˆ xk|k−1 )) Pk|k−1 − Kk Dk Pk|k−1

= =

5678799: 567879;:

,(!/! Kk = Pk|k−1 Dk (Rk + Dk Pk|k−1 Dk )−1 #$ "(! L%+'%- .%#-7 O- "(! "(!$#$@ ,! (%D! &$!2 KL< $!" & "* 2!%+ ,#"( "(! -*-3+#-!%/ 0/*1!$$ '*2!+ %-2 '!%$&/!'!-" '*2!+$7 ′



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;6

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=

A(t)x(t) + B(t)u(t) + D(t)v(t)

z(t)

=

Cx(t) + Eu(t) + w(t)

W>X= W>M=

B7121 x(t) #" 671 "6*61 0146$2 $& +#51%"#$% nx *%+ u(t) #" 671 4$%62$9 #%8!6 $& +#51%"#$% nu > G71 4$%6#%!$!" 6#51 #%8!6 +#"6!2;*%41 $2 671 82$41"" %$#"1 v(t) #" $& +#51%"#$% nv > G71 "3"615 5*62#L #" :#01% ;3 A *%+ B, D *21 671 4$%6#%!$!" 6#51 #%8!6 :*#% *%+ %$#"1 :*#%> )$90#%: Q2"6 $2+12 +#I121%6#*9 1D!*6#$% 9#C1 W>X= B#99 21"!96 #% &$99$B#%: YXZ x(t) = F (t, t0 )x(t0 ) +

ˆt

F (t, τ )[B(τ )u(τ ) + D(τ )v(τ )]dτ

t0

M[

W>V=

!"#" F (t, t0 ) = e 23,4,35 6(7") 89:;

´t

t0

A(τ )dτ

$%& E{v(t)v(τ ) } = V (t)δ(t − τ )' x(t0 )() *!" (%(*($+ )*$*", -().#"*(/$*(0% 01 ′

23,4,*! *!+$-
*2 "& &'#* "5&*,

zk "!2

B*5+,*

zk+1 9

2"&" "))+.'"&'+!1 .%$&&*, *!>',+!#*!&1
k

;") ;,'&&*! ") Fk '! 4,*>'+$) . )> ''E' +,% ;$-4%11 3-!1% 639 .,% 5%61#$%5%3. 3-!1% 6$% 611#5%9 J%$-/5%63> =,!.% 639 5#.#6::? !39%;%39%3.'

tk−1 .-

+,% .!5% td > 6. =,!4, .,% KK !1 611#5%9 .- 7% 1#4, .,6. !"' &'(') 639 -3% 463 =$!.%

tk−1 < td < tk 61

xk = Fk,d xd + vk,d

1,-=3 !3 D&'('(E

M. .!5% t = tk > -3% ,61 x ˆk|k = E[xk |Z1:k ]

=,%$% Z1:k = {z1 ,

z2 ............zk−1 zk }'

and

Pk|k = cov[xk |Z1:k ]

D&'('&E

N!8%3 .,!1 9%O3!.!-3> .,% KK =% =63. .- 46:4#:6.%* x ˆk|d = E[xk |Z1:k , zd ]

and Pk|d = cov[xk |Z1:k , zd ]

D&'('QE

R% =63. .- 9- .,!1 #;96.% =!.,-#. 63? $%-$9%$!3" 639 $%;$-4%11!3" -0 .,% 5%61#$%5%3.1' +,% %F64. 1-:#.!-3 0-$ .,% )/1.%; :6" !1 ;$-;-1%9 !3 @SC 639 !1 9%14$!7%9 7%:-=' +,% 6:"-$!.,5 !1 1!5!:6$ .- .,% 3-$56: ;$%9!4./#;96.% 4?4:% -0 .,% T6:563 O:.%$ %F4%;. .,6. !3 .,!1 461%> 1!34% =% ,68% .- #;96.% =!., 6 5%61#$%5%3. =,!4, !1 -:9%$ .,63 .,% 4#$$%3. 1.6.% #;96.%> =% $%.$-9!4. 764G .- .,6. 1.6.% %1.!56.% O$1. 639 .,%3 #;96.% =!., .,6. 9%:6?%9 5%61#$%5%3.' K7.6!3 .,% $%.$-9!4.%9 1.6.% xˆk|d 0$-5 xˆk|k #1!3" xk = Fk,d sd + vk,d 61 x ˆd|k

= =

E[xk |Z1:k ] = Fd,k E[xk − vk,d |Z1:k ] Fd,k [ˆ xk|k − vˆk,d|k ]

AB

D&'('UE D&'('BE

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sk = [x1k yk1 θk vk1 a1k d2k vk2 a2k ]T ,

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     d     

x1 (t) y 1 (t) θ(t) v 1 (t) a1 (t) d2 (t) v 2 (t) a2 (t)

           

ds(t)

A(t)

          

=

cos(θ(t)) ∗ v 1 (t) sin(θ(t)) ∗ v 1 (t) 0 a1 (t) 0 v 2 (t) − v 1 (t) a2 (t) 0

     A(t) =      

0 0 0 0 0 0 0 0





          +          

0 0 1 0 0 0 0 0

0 0 0 0 1 0 0 0

0 0 0 0 0 0 0 1



     dBθ(t)    dBa1 (t)    dBa2 (t)   

f (s(t))dt + G ∗ dB(t) f (ˆ s) + (∇f (ˆ s(t)))T (s(t) − sˆ(t)) + G ∗ dB(t)

= =

= ∇f (ˆ s(t)))T 

!"!#



0 0 0 0 0 0 0 0

=[

BC545DE

BC545FE BC5454E

∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂ ]s ∂x1 ∂y 1 ∂θ ∂v 1 ∂a1 ∂d2 ∂v 2 ∂a2

−sin(θ(t)) ∗ v 1 (t) cos(θ(t)) ∗ v 1 (t) 0 0 0 0 0 0

cos(θ(t)) sin(θ(t)) 0 0 0 −1 0 0

Ak = A(t)|s=skk

0 0 0 1 0 0 0 0

0 0 0 0 0 0 0 0

0 0 0 0 0 1 0 0

0 0 0 0 0 0 0 0

           

BC545GE

BC545CE

$%&'()*) *%+) &*,*) *(,-&%*%.- +,*(%/

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Velocity of Preceding Vehicle

Velocity [m/s]

20 15 V2V measurement CAN measurement

10 5 0 0

50

100

150 Time [sec]

200

250

Velocity of Preceding Vehicle

Velocity [m/s]

20 15 V2V measurement CAN measurement Estimation

10 5 0 0

50

100

150 Time [sec]

200

250

!"#$% &'('() *%+,-!./ ,0 1$%-%2!3" 4%5!-+%) 672 *8* !30,$97.!,3 Velocity of Preceding Vehicle

Velocity [m/s]

20

V2V measurement CAN measurement

15

10

5

0 0

50

100

150

200 250 Time [sec]

300

350

400

450

300

350

400

450

Velocity of Preceding Vehicle

Velocity [m/s]

20

V2V measurement CAN measurement Estimation

15

10

5

0 0

50

100

150

200 250 Time [sec]

!"#$% &'('8) *%+,-!./ ,0 .5% 1$%-%2!3" 4%5!-+%) 672 $727$ :;

Velocity of Preceding Vehicle 6

V2V measurement CAN measurement

Velocity [m/s]

5 4 3 2 1 0 0

10

20

30 Time [sec]

40

50

60

Velocity of Preceding Vehicle 6

V2V measurement CAN measurement Estimation

Velocity [m/s]

5 4 3 2 1 0 0

10

20

30 Time [sec]

40

50

60

!"#$% &'(')* +%,-.!/0 -1 /2% 3$%.%4!5" 6%2!.,%* 7-/2 8-#$.%8 -1 !51-$9:/!-5 "--4 /2% 7-//-9 3,-/ -1 !"' &'(';' + !51-$9:/!-5 5%%4 5-/ 2:6% :50 ?%,4 -1 6!%= 1-$ /2% !51-$9:/!-5 /- "%/ .-99#5!.:/%4@ /2% !51-$9:/!-5 1$-9 +>+ =:8 6%$0 2%,31#, !5 4%/%$9!5!5" /2% $%,:/!6% 4!8/:5.%'

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Distance to Preceding Vehicle 150

Delivered to the controller FSM measurement Estimation

Distance [m]

100

50

0 0

50

100

150

200 250 Time [sec]

300

350

400

450

Target in path for the front sensing module 1 Target in path 0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0 0

50

100

150

200 250 Time [sec]

300

350

400

450

!"#$% &'(')* +!,-./0% -1 -2% 3$%0%4!/" 5%2!06% 7-138 ./4 -.$"%- 3$%,%/- ,!"/.6 $%31$-%4 9: ;.4.$ 791--1

Heading of Ego Vehicle 350

GPS measurement Estimation

300

Heading [deg]

250

200

150

100

50

0

2260

2280

2300 Time [sec]

2320

2340

2360

!"#$% &'(')* +%,-!." /0 %"/ 1%2!34% Ego Vehicle Acceleration CAN measurement Estimation 1.5

1

Acceleration [m/s2]

0.5

0

-0.5

-1

-1.5

0

10

20

30

40 Time [sec]

50

60

!"#$% &'('(* 5"/ 1%2!34% ,33%4%$,6!/. 78

70

80

Position of Ego Vehicle GPS measurement Estimation

51.4785

51.478

51.4775

51.4765

51.476

51.4755

51.475

51.4745 5.612

5.614

5.616

5.618 Longitude

5.62

5.622

5.624

GPS Status of Ego Vehicle 1 GPS status 0.8

0.6

0.4

0.2 Status

Latitude

51.477

0

-0.2

-0.4

-0.6

-0.8

-1 0

50

100

150 Time [sec]

200

250

!"#$% &'(')* +", -,.!/!,0 102 345 ./1/#. 67 8%10. 21/1 0,/ ",,2 102 9 8%10. ",,2:

);

Acceleration of the leader vehicle Estimation V2V measurement

1.5

1

Acceleration [m/s]

0.5

0

-0.5

-1

-1.5

-2 45

50

55

60

65

70 Time [sec]

75

80

85

90

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x ˆM L (Y )

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arg max p(x|Y ) = arg max [p(Y |x)p(x)] x

x

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2

+∞ −∞

QT