%0 Journal Article 
%A Toledo Moreo, Rafael
%A Zamora Izquierdo, Miguel Ángel
%T IMM-Based lane-change prediction in highways with low-cost GPS/INS
%D 2009
%@ 1524-9050
%U http://hdl.handle.net/10317/892
%X 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.
%K Arquitectura y Tecnología de Computadoras
%K Sensor inercial
%K Modelo interactivo múltiple (IMM)
%K Inertial sensor
%K Interactive multiple model (IMM)
%K Lane change
%K Maneuver prediction
%K Maniobra de predicción
%K Cambio de carril
%~ GOEDOC, SUB GOETTINGEN