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Fusing Radar and Vision Data for Cut-In Vehicle Identification in Platooning Applications
ISSN: 2641-9637, e-ISSN: 2641-9645
Published April 14, 2020 by SAE International in United States
Citation: Liu, M., Rathinam, S., Lukuc, M., and Gopalswamy, S., "Fusing Radar and Vision Data for Cut-In Vehicle Identification in Platooning Applications," SAE Int. J. Adv. & Curr. Prac. in Mobility 2(6):3044-3050, 2020, https://doi.org/10.4271/2020-01-0102.
Identifying vehicles and objects in the vicinity of platooning vehicles is critical for platooning safety. A neighboring vehicle may change lanes and enter a lane with platooning vehicles. Any deployable platooning system must be able to first identify the presence of a cut-in vehicle before performing any control actions on the vehicles. In this article, a sensor fusion algorithm is presented that combines radar and vision data obtained on-board a moving truck to identify the states of the cut-in vehicle. Experimental results are presented to corroborate the performance of the proposed algorithms.