V2V-Communication, LiDAR System and Positioning Sensors for Future Fusion Algorithms in Connected Vehicles

The automotive industry is changing from conventional driving into connected and later on autonomous driving. The fundamental principle of this alteration is communication and exchange of data between vehicles and other kind of traffic objects, for example traffic lights. The knowing about basic conditions from all traffic objects within a close proximity can ensure a more precise reaction of Advanced Driver Assistant Systems (ADAS). Thereby Vehicle-to-Vehicle (V2V) technology contributes to increase traffic safety. This paper describes an investigation of V2V communication based on commercial On-Board-Units (OBU). These units, integrated in two test-vehicles, transmit and receive data based on the IEEE 802.11p standard (ETSI ITS-G5). The messages include basic conditions like position, motion vector and vehicle configuration parameters. Those information ensure a relative positioning which is also implemented in the paper on hand. The calculations provide the prerequisites for additional autonomous vehicle system applications like autonomous braking or steering maneuver. To improve precision and reliability of ADAS, statements about integrity are inevitable. These can be achieved by a fusion of different sensor information. Therefore the paper also presents possibilities to ensure an accurate localization and object detection, regarding a Light Detection and Ranging (LiDAR) System (Velodyne VLP-16) and an Differential Global Positioning System (DGPS) approach. The interaction of communication, sensor fusion algorithms and integrity considerations form the basis for autonomous driving.