MATLAB Code of Data Fusion Strategies for Road Obstacle Detection



Abstrsct :

Vehicle technology has increased rapidly in recent years particularly in relation to sensing and braking systems. Topics of interest in this study are designing and simulation of data fusion in a radar network with overlaps. Data consolidation means combining output data of dissimilar radar sensors with different accuracy of range & angle error. These sensors installed at the front of the vehicle in one row for better detection of obstacles on the road. Each radar sensors sends self-reported data in the target position to the fusion center. We can be found better results for target location and velocity by applying data fusion algorithms. This procedure is error ratio reduction by applying KF&EKF on transmitted information and then check different types of sensor data fusion techniques (hierarchy & batch ) in two level of measurements and state vectors. The purpose of this research is tracking fusion to integrate coverage area and MSE assessment systems have been used to improve the accuracy of estimating the target position. The results show that positioning error of each sensor depends on radar accuracy and target position and also we increasing position accuracy with a large number of sensors. So that the positioning error of the fusion center less than positioning error of each sensor at the moment.





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references :

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