DocumentCode :
3529017
Title :
A vehicular filter suitable for co-operative automotive safety applications
Author :
Lytrivis, Panagiotis ; Tsogas, Manolis ; Thomaidis, George ; Karaseitanidis, Giannis ; Amditis, Angelos
Author_Institution :
Inst. of Commun. & Comput. Syst., DECE, Athens, Greece
fYear :
2010
fDate :
21-24 June 2010
Firstpage :
1222
Lastpage :
1227
Abstract :
Research in the automotive field is currently focusing on exploiting the co-operation among vehicles to enhance road safety, efficiency and comfort. In vehicular ad hoc networks, especially in safety related applications, accuracy of the information exchanged through the wireless network, such as position and velocity of each vehicle, is crucial. For this reason a robust and accurate vehicular filter which also reduces measurements´ noise is needed. The extended Kalman filter is used as standard technique for performing recursive nonlinear estimation. However, it provides only an approximation to optimal nonlinear estimation. In order to avoid sub-optimal performance an enhanced unscented Kalman filter is used. The enhancement is that a combination of different motion models is exploited, leading to a more accurate modeling of the vehicle´s movement. For this combination the curvature of the road from a digital map and the yaw rate and acceleration values from the vehicle are taken into consideration. The performance of the proposed unscented filter is proven to be superior compared to the performance of both the extended Kalman filter and the simple unscented filter which takes into account only a specific motion model.
Keywords :
Kalman filters; ad hoc networks; automotive engineering; mobile radio; nonlinear estimation; road safety; cooperative automotive safety applications; digital map; extended Kalman filter; information exchange; measurements noise; motion model; optimal nonlinear estimation; recursive nonlinear estimation; road safety; unscented filter; vehicular ad hoc networks; vehicular filter; wireless network; yaw rate; Ad hoc networks; Automotive engineering; Filters; Noise measurement; Noise reduction; Noise robustness; Road safety; Road vehicles; Vehicle safety; Wireless networks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2010 IEEE
Conference_Location :
San Diego, CA
ISSN :
1931-0587
Print_ISBN :
978-1-4244-7866-8
Type :
conf
DOI :
10.1109/IVS.2010.5548071
Filename :
5548071
Link To Document :
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