Vehicle Platooning via Sensor Fusion of GPS Carrier Phase and Millimeter-Wave Radar

This paper is concerned with the vehicle platooning in the AHS (Automated Highway Systems). For this, a relative navigation system is developed for the vehicles operating as a platoon. The relative navigation system is based on two sensors including GPS and MMWR (Millimeter-Wave Radar) and the federated Kalman Iter processing measurements of them. The architecture of this system requires GPS measurements of a preceding vehicle via communication link. Even if GPS measurements are available, they contain errors which are unacceptably high in vehicle platooning. Therefore, GPS carrier phase is considered. Integer ambiguities of GPS carrier phase measurements are determined by using MMWR ...