IMM-Based lane-change prediction in highways with low-cost GPS/INS
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Research GroupDiseño Electrónico y Técnicas de Tratamiento de Señales
Knowledge AreaArquitectura y Tecnología de Computadoras
SponsorsMinisterio de Fomento: FOM/2454/2007
PublisherIEEE Transactions on SMC Associate Editors
Bibliographic CitationTOLEDO 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.
Peer reviewSi. The Associate Editor for this paper was Y. Wang.
Modelo interactivo múltiple (IMM)
Interactive multiple model (IMM)
Maniobra de predicción
Cambio de carril
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.
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