Cooperative Path Prediction in Vehicular Environments

The prediction of the future path of the ego vehicle and of other vehicles in the road environment is very important for safety applications, especially for collision avoidance systems. Today´s available advanced driver assistance systems are mainly based on sensors that are installed in the vehicle. Due to the evolution of wireless networks the current trend is to exploit the cooperation among vehicles to enhance road safety. In this paper a cooperative path prediction algorithm is presented. This algorithm gathers position, velocity and yaw rate measurements from all vehicles in order to calculate the future paths. A specific care is taken for the manipulation of the latency of the wireless vehicular network. Also map data concerning the road geometry are used to enhance the estimation of path prediction. This work shows both the advances of using communications among road users and the corresponding challenges.