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Sensor Fusion for Vehicle Positioning in Intersection Active Safety Applications

Tohid Ardeshiri ; Sogol Kharrazi (Institutionen för tillämpad mekanik, Fordonssäkerhet) ; Jonas Sjöberg (Institutionen för signaler och system, Mekatronik) ; Jonas Bärgman ; Mathias Lidberg (Institutionen för tillämpad mekanik, Fordonssäkerhet)
8th International Symposium on Advanced Vehicle Control (2006)
[Konferensbidrag, övrigt]

Global Positioning System (GPS) is being increasingly used in active safety applications. One field of active safety in which navigation information can be used is Intersection Active Safety Applications (IASA) which requires a precise and continuous estimate of vehicle position and heading direction to function properly. In this paper an implementation of Extended Kalman Filter for estimation of vehicle position and heading direction in an intersection active safety application is presented. The algorithm was tested on a complex urban trajectory of 2 km long and showed very encouraging results.

Nyckelord: Intersection Active Safety Applications, Sensor Fusion, Kalman Filter

Denna post skapades 2006-11-13. Senast ändrad 2015-12-17.
CPL Pubid: 22646