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IMM-Based lane-change prediction in highways with low-cost GPS/INS

dc.contributor.authorToledo Moreo, Rafael es_ES
dc.contributor.authorZamora Izquierdo, Miguel Ángel es_ES
dc.date.accessioned2009-04-01T10:03:47Z
dc.date.available2009-04-01T10:03:47Z
dc.date.issued2009-03
dc.identifier.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.es
dc.identifier.issn1524-9050
dc.description.abstractThe 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.es
dc.description.sponsorshipMinisterio de Fomento: FOM/2454/2007es
dc.formatapplication/pdf
dc.language.isoenges
dc.publisherIEEE Transactions on SMC Associate Editorses
dc.rightsCopyright © 2009 IEEEes
dc.titleIMM-Based lane-change prediction in highways with low-cost GPS/INSes
dc.typeinfo:eu-repo/semantics/articlees
dc.subject.otherArquitectura y Tecnología de Computadorases
dc.subjectSensor inerciales
dc.subjectModelo interactivo múltiple (IMM)es
dc.subjectInertial sensor
dc.subjectInteractive multiple model (IMM)
dc.subjectLane change
dc.subjectManeuver prediction
dc.subjectManiobra de predicción
dc.subjectCambio de carril
dc.identifier.urihttp://hdl.handle.net/10317/892
dc.peerreviewSi. The Associate Editor for this paper was Y. Wang.es
dc.contributor.investgroupDiseño Electrónico y Técnicas de Tratamiento de Señales
dc.identifier.doi10.1109/TITS.2008.2011691


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