Figure 5.

The figures show the relative positioning error in longitudinal (blue) and lateral (green) direction for a radar sensor (a), a cooperative approach (b) and the fusion of both (c) while driving on a highway [114]. The radar sensor has a good longitudinal accuracy, but a limited availability of 75%. The cooperative approach has a larger error, similar in both directions and continuous availability. The continuous lines in (c) show the fusion of both, where an increased precision and availability are achieved.