Multi-sensor based vehicle autonomous navigation for vehicle infrastructure integration: Concept and simulation analysis

Vehicle autonomous navigation is crucial for the implementation of vehicle infrastructure integration, which is a prospective trend of intelligent transportation systems. The integration of multiple on-board sensors and even the support from V2V and V2I communication are critical to maximize each of their benefits. This paper discusses the concept of multi-sensor based vehicle autonomous navigation for vehicle infrastructure integration. Based on the present location relevant applications, functional and performance requirements of vehicle autonomous navigation system are summarized, the system structure and the vehicle dynamic model are designed, and issues of time-space synchronization and the employed filtering strategies are briefly investigated. Simulation and analyses indicate its potential of fulfilling the various performance requirements of vehicle infrastructure integration scheme by multi-sensor data fusion.