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Communication Dans Un Congrès Année : 2020

Urban vulnerable road user localization using gnss, inertial sensors and ultra-wideband ranging

Johan Perul
Valérie Renaudin

Résumé

Over the last decade, the number of accidents involving Vulnerable Road Users (VRU), i.e. pedestrians, cyclists and motorbike drivers, has not decreased in the same way as accidents between passenger cars have. Cooperative systems based on Vehicle-to-X (V2X) communication make it possible to directly exchange information between VRUs and vehicles and to increase the overall situational awareness beyond the capabilities of on-board ranging sensors. To detect and avoid collisions, vehicles require up-to-date and precise information on the location and trajectory of VRUs. In this paper, we propose a VRU localization system based on Global Navigation Satellite System (GNSS), inertial sensors and ultra-wideband (UWB) round-trip-delay ranging technology. We present an exhaustive measurement campaign comprising pedestrians, cyclists and vehicles performed in an urban setting and show first results on the localization performance for a pedestrian crossing an intersection. In the experiments, the pedestrian inertial system supported by GNSS and UWB ranges is able to achieve 0.65m 1\sigma-position accuracy.
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Dates et versions

hal-02940059 , version 1 (16-09-2020)

Identifiants

  • HAL Id : hal-02940059 , version 1

Citer

Fabian Ponte Muller, Estefania Munoz Diaz, Johan Perul, Valérie Renaudin. Urban vulnerable road user localization using gnss, inertial sensors and ultra-wideband ranging. 2020 IEEE Intelligent Vehicles Symposium, Oct 2020, LAS VEGAS, United States. 7p. ⟨hal-02940059⟩
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