Intervehicular sensor fusion for situation awareness

Baehoon Choi, Jhonghyen An, Beomseong Kim, Euntai Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The intelligent vehicles equipped with sensors may have an ability to recognize the environment and make a safe and efficient decision. This paper proposes the intervehicular sensor fusion system for tracking the nearby objects. The proposed system gathers information from nearby vehicles and returns more exact and precise information about the environment. The system is implemented by hierarchical joint probabilistic data association (JPDA) filter. In the first layer, the hierarchical JPDA filter tracks vehicles first. In the second layer, the obstacles are tracked using the measurements from the vehicles. This system improves the tracking performance by tracking targets which are not seen by an ego vehicle but seen by another vehicle. To verify the effect of the system, the simulation results are given.

Original languageEnglish
Title of host publication3rd IFAC Symposium on Telematics Applications, TA 2013 - Proceedings
PublisherIFAC Secretariat
Number of pages4
EditionPART 1
ISBN (Print)9783902823564
Publication statusPublished - 2013
Event3rd IFAC Symposium on Telematics Applications, TA 2013 - Seoul, Korea, Republic of
Duration: 2013 Nov 112013 Nov 13

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


Other3rd IFAC Symposium on Telematics Applications, TA 2013
Country/TerritoryKorea, Republic of

Bibliographical note

Funding Information:
★This work was supported by “Development of Active/Passive Safety Integrated System for Accident Prevention and Injury Reduction” (Grant number:10042676) of the Ministry of Science, ICT & Future Planning, Republic of Korea.

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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