IMM-Based lane-change prediction in highways with low-cost GPS/INS
Grupo de investigación
Diseño Electrónico y Técnicas de Tratamiento de SeñalesÁrea de conocimiento
Arquitectura y Tecnología de ComputadorasPatrocinadores
Ministerio de Fomento: FOM/2454/2007Fecha de publicación
2009-03Editorial
IEEE Transactions on SMC Associate EditorsCita bibliográfica
TOLEDO MOREO, Rafael, ZAMORA IZQUIERDO, Miguel A. IMM-Based Lane-Change Prediction in Highways With Low-Cost GPS/INS. IEEE transactions on intelligent transportation systems, 10 (1): 180-185, marzo 2009. ISSN: 1524-9050.Revisión por pares
Si. The Associate Editor for this paper was Y. Wang.Palabras clave
Sensor inercialModelo interactivo múltiple (IMM)
Inertial sensor
Interactive multiple model (IMM)
Lane change
Maneuver prediction
Maniobra de predicción
Cambio de carril
Resumen
The prediction of lane changes has been proven to be useful for collision avoidance support in road vehicles. This paper proposes
an interactive multiple model (IMM)-based method for predicting lane changes in highways. The sensor unit consists of a set of low-cost Global Positioning System/inertial measurement unit (GPS/IMU) sensors and an odometry captor for collecting velocity measurements. Extended Kalman filters (EKFs) running in parallel and integrated by an IMM-based algorithm
provide positioning and maneuver predictions to the user. The maneuver states Change Lane (CL) and Keep Lane (KL) are defined by
two models that describe different dynamics. Different model sets have been studied to meet the needs of the IMM-based algorithm. Real trials in highway scenarios show the capability of the system to predict lane changes in straight and curved road stretches with very short latency times.
Colecciones
- Artículos [1708]
El ítem tiene asociados los siguientes ficheros de licencia:
Redes sociales