Extending Onboard Sensor Information by Wireless Communication

New algorithms for the integration of data, which is obtained by wireless communication, in an onboard sensor based vehicle environment model are introduced. The system receives the dynamic state and additional information of objects via wireless communication with latency. The dynamic state is filtered and predicted to the current time. Afterwards, a track-to-track fusion of received objects and objects, which are measured by onboard sensors, is performed. This association is based on the object´s position, orientation, velocity as well as the object´s history. In addition, the probability of an unmeasured object is considered. The complete system is evaluated with ground truth data.