Evidential Distributed Dynamic Map for Cooperative Perception in VANets

Nicole El Zoghby (1, 2) , Véronique Cherfaoui (1, 2) , Thierry Denoeux (1, 2)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 Labex MS2T - Laboratoire d'Excellence "Maîtrise des Systèmes de Systèmes Technologiques"

In this paper, we present a distributed approach to build a dynamic map in the context of VANets (Vehicular Ad hoc Networks). It is based on the principle of cooperative perception where vehicles work as a team in order to extend their field of view. Each vehicle is equipped with sensors allowing it to detect its environment and to build its map, denoted by local map. It receives messages from other vehicles containing mobile objects detected in their surroundings. The algorithm of distributed dynamic map builds a map of the dynamic environment including objects in the sensor's field of view as well as those sent by other vehicles. This algorithm is developed under the belief functions framework. The implementation of such an application is complex and needs many treatments: temporal and spatial alignment, object association, fusion of messages and data dissemination. This approach has been validated by simulation on scenario involving several vehicles in traffic situation.

Domaines: Robotique [cs.RO]; Système multi-agents [cs.MA]; Théorie de l'information [cs.IT]; Théorie de l'information et codage [math.IT]

Nicole El Zoghby, Véronique Cherfaoui, Thierry Denoeux. Evidential Distributed Dynamic Map for Cooperative Perception in VANets. IEEE intelligent Vehicles Symposium (IV 2014), Jun 2014, Dearborn, Michigan, United States. pp.1421-1426. ⟨hal-01023914⟩