A study on identification of laser-tracked vehicles using V2V-based velocity information

In recent years, several advanced safety techniques have been put to practical use for supporting safe driving, ASV (Advanced Safety Vehicle) can detect the presence of surrounding vehicles and pedestrians autonomously. On the other hand, cooperative techniques such as cooperative vehicle-to-vehicle awareness have attracted a lot of attentions in the field of ITS. In this paper, we propose a method for identifying positional relationship of vehicle groups. In the proposed method, connected vehicles share surrounding vehicles' positions detected by installed range sensors via inter-vehicle communication. By composing those pieces of information into a single view, each connected vehicle can recognize the vehicle group ahead, which cannot be recognized standalone. By utilizing the distance information from two different information sources and executing the matching process, the correct positional relationship among neighboring vehicles can obtain. We have conducted a simulation-based experiment using two types of data to evaluate the effectiveness of the approach, and we have confirmed to achieve the correct identification with high probability by using shared velocity information.