DocumentCode :
3502397
Title :
State and existence estimation with out-of-sequence measurements for a collision avoidance system
Author :
Westenberger, Antje ; Gabb, Michael ; Muntzinger, Marc ; Fritzsche, Martin ; Dietmayer, Klaus
Author_Institution :
Group Res. & Adv. Eng., Daimler AG, Ulm, Germany
fYear :
2013
fDate :
23-26 June 2013
Firstpage :
612
Lastpage :
617
Abstract :
As their functionality becomes more and more complex, future driver assistance systems rely on several different sensors in order to combine the advantages of different measurement principles. However, in multi-sensor fusion, measurements may arrive at the fusion unit out-of-sequence, the original order of the measurements may be lost. Whereas out-of-sequence measurement processing in state estimation has been studied extensively, their incorporation in existence estimation has not been solved in the past. This paper presents a new algorithm for state and existence estimation in time-critical applications, where out-of-sequence measurements are handled adequately. The derived algorithm is validated with real-world data from crash tests.
Keywords :
collision avoidance; road safety; road vehicles; sensor fusion; state estimation; collision avoidance system; crash test; driver assistance system; existence estimation; measurement principles; multisensor fusion; out-of-sequence measurement processing; sensors; state estimation; time-critical applications; Couplings; Estimation; Probabilistic logic; Sensors; Technological innovation; Time measurement; Vehicle crash testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2013 IEEE
Conference_Location :
Gold Coast, QLD
ISSN :
1931-0587
Print_ISBN :
978-1-4673-2754-1
Type :
conf
DOI :
10.1109/IVS.2013.6629534
Filename :
6629534
Link To Document :
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