Vehicular Cooperative Navigation Based on H-SPAWN Using GNSS, Vision, and Radar Sensors 


Vol. 40,  No. 11, pp. 2252-2260, Nov.  2015


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  Abstract

In this paper, we propose a vehicular cooperative navigation system using GNSS, vision sensor and radar sensor that are frequently used in mass-produced cars. The proposed cooperative vehicular navigation system is a variant of the Hybrid-Sum Product Algorithm over Wireless Network (H-SPAWN), where we use vision and radar sensors instead of radio ranging(i.e.,UWB). The performance is compared and analyzed with respect to the sensors, especially the position estimation error decreased about fifty percent when using radar compared to vision and radio ranging. In conclusion, the proposed system with these popular sensors can improve position accuracy compared to conventional cooperative navigation system(i.e,,H-SPAWN) and decrease implementation costs.

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  Cite this article

[IEEE Style]

H. Ko and S. Kong, "Vehicular Cooperative Navigation Based on H-SPAWN Using GNSS, Vision, and Radar Sensors," The Journal of Korean Institute of Communications and Information Sciences, vol. 40, no. 11, pp. 2252-2260, 2015. DOI: .

[ACM Style]

Hyunwoo Ko and Seung-Hyun Kong. 2015. Vehicular Cooperative Navigation Based on H-SPAWN Using GNSS, Vision, and Radar Sensors. The Journal of Korean Institute of Communications and Information Sciences, 40, 11, (2015), 2252-2260. DOI: .

[KICS Style]

Hyunwoo Ko and Seung-Hyun Kong, "Vehicular Cooperative Navigation Based on H-SPAWN Using GNSS, Vision, and Radar Sensors," The Journal of Korean Institute of Communications and Information Sciences, vol. 40, no. 11, pp. 2252-2260, 11. 2015.

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pISSN : 1226 - 4717
eISSN : 2287 - 3880