Automatic Vehicle Tracking With Roadside LiDAR Data for the Connected-Vehicles System

The existing connected-vehicle deployments obtain the real-time status of connected vehicles, but without knowing the unconnected traffic. It is urgent to find an approach to collecting the high-resolution real-time status of unconnected road users. This paper introduces a new-generation light detection and ranging (LiDAR) enhanced connected infrastructures that actively sense the high-resolution status of surrounding traffic participants with roadside LiDAR sensors and broadcast connected-vehicle messages through DSRC roadside units. The LiDAR data processing procedure, including background filtering, object clustering, vehicle recognition, lane identification, and vehicle tracking, is presented in this paper. The performance of the proposed data processing procedure is evaluated with the field collected data.