Fusion of Perception and V2P Communication Systems for the Safety of Vulnerable Road Users

Abstract

With cooperative intelligent transportation systems (C-ITS), vulnerable road users (VRU) safety can be enhanced by multiple means. On one hand, perception systems are based on embedded sensors to protect VRUs. However, such systems may fail due to the sensors' visibility conditions and imprecision. On the other hand, Vehicle-to-Pedestrian (V2P) communication can contribute to the VRU safety by allowing vehicles and pedestrians to exchange information. This solution is, however, largely affected by the reliability of the exchanged information, which most generally is the GPS data. Since perception and communication have complementary features, we can expect that a fusion between these two approaches can be a solution to the VRU safety. In this work, we propose a cooperative system that combines the outputs of communication and perception. After introducing theoretical models of both individual approaches, we develop a probabilistic association between perception and V2P communication information by means of multi-hypothesis tracking (MHT). Experimental studies are conducted to demonstrate the applicability of this approach in real-world environments. Our results show that the cooperative VRU protection system can benefit of the redundancy coming from the perception and communication technologies both in line-of-sight (LOS) and non-LOS (NLOS) conditions. We establish that the performances of this system are influenced by the classification performances of the perception system and by the accuracy of the GPS positioning transmitted by the communication system.

The Use of Meta-Surfaces in Vehicular Networks

“…Among these technologies, alert/notification to users (e.g., through mobile phone alert) is the only connected way considered. Several works have been published in the last years on this topic; some of these works, like [62,63], consider a IEEE 802.11p V2P communication, demonstrating a probability to inform the VRU around 0.8 with a beacon generation frequency at least equal to 1 Hz (for IEEE 802.11p, a unique Provider Service Identifier (PSID) to identify applications for the safety of VRUs is defined by standard [64]).…”

Use Of Smartphones for Ensuring Vulnerable Road User Safety through Path Prediction and Early Warning: An In-Depth Review of Capabilities, Limitations and Their Applications in Cooperative Intelligent Transport Systems

“…It has to be mentioned that the majority of the authors tried to tackle non-line-of-sight and blind spots, where the driver's view is limited due to buildings, vehicles and other obstacles. The majority of research was carried out in 2014 [14,[19][20][21], in 2016 [1,[22][23][24][25][26] and in 2017 [27][28][29]. Moreover, most of the V2P developments used several sensors data fusion techniques [1,19,21,22,24,26,27,30], while some of them [20,31] discussed methods to predict VRU next move/short path and some others presented collision avoidance systems [23,26,32].…”

Cooperative Tracking of Cyclists Based on Smart Devices and Infrastructure

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