IMM-Based Lane-Change Prediction in Highways With Low-Cost GPS/INS

Toledo-Moreo, R.; Zamora-Izquierdo, Miguel A.

doi:10.1109/tits.2008.2011691

Cited by 119 publications

(50 citation statements)

References 18 publications

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“…However, there is a much wider range of potential applications beyond enhancing driver convenience. As shown in [18]- [21], detailed road maps could also prove useful for road safety applications by means of lane keeping, obstacle detection and collision avoidance systems.…”

Section: B Road Mappingmentioning

confidence: 99%

The Warrigal Dataset: Multi-Vehicle Trajectories and V2V Communications

Ward

Worrall

Agamennoni

et al. 2014

IEEE Intell. Transport. Syst. Mag.

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Intelligent Transportation Systems rely on understanding, predicting and affecting the interactions between vehicles. Development of such systems must be based upon data derived from actual interactions if they are to be effective when used in real world applications.Increasingly, systems are being developed that are based on radio communication of state and intent between vehicles. Understanding of how these interactions occur is also necessary to creating robust systems.In order to test and compare new techniques, approaches and algorithms it is necessary to have a rich dataset to

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Section: B Road Mappingmentioning

confidence: 99%

The Warrigal Dataset: Multi-Vehicle Trajectories and V2V Communications

Ward

Worrall

Agamennoni

et al. 2014

IEEE Intell. Transport. Syst. Mag.

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show abstract

“…Due to its benefits, the concept of enhanced road map has been exploited in former works of the authors in order to achieve lane-level positioning [5], lane-change detection [6] or position integrity [7]. This work follows this research line, adding new contributions to this field.…”

Section: Related Workmentioning

confidence: 99%

A Two-Layers Based Approach of an Enhanced-Mapfor Urban Positioning Support

Pinana-Diaz

Toledo-Moreo

et al. 2012

Sensors

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This paper presents a two-layer based enhanced map that can support navigation in urban environments. One layer is dedicated to describe the drivable road with a special focus on the accurate description of its bounds. This feature can support positioning and advanced map-matching when compared with standard polyline-based maps. The other layer depicts building heights and locations, thus enabling the detection of non-line-of-sight signals coming from GPS satellites not in direct view. Both the concept and the methodology for creating these enhanced maps are shown in the paper.

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“…In the approach of IMM, the transition between maneuver models are combined depends on a Markovian process [5] [6].…”

Section: B Imm-ukfmentioning

confidence: 99%

IMM-UKF based land-vehicle navigation with low-cost GPS/INS

Qian¹,

An²,

Xia³

2010

The 2010 IEEE International Conference on Information and Automation

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The motivation of INS/GPS integration is to develop a navigation system that overcomes the shortcomings of each system. Its implementation is essentially based on the filter techniques and error models of INS. If the model changes with the environment, the estimation accuracy is degraded. In this paper, an Interacting Multiple Model Unscented Kalman Filter (IMM-UKF) method was proposed to jointly estimate the position information. This modeling approach makes it possible to employ the UKF to deal with the problem of nonlinear filtering with uncertainty noise. The output of the IMM-UKF is the weighted sum of a bank of parallel unscented Kalman filters. Simulations show that compared with the conventional Kalman filtering approach, the IMM-UKF algorithm is more stable and effective, thus improving the convergence speed and accuracy.

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IMM-Based Lane-Change Prediction in Highways With Low-Cost GPS/INS

Cited by 119 publications

References 18 publications

The Warrigal Dataset: Multi-Vehicle Trajectories and V2V Communications

The Warrigal Dataset: Multi-Vehicle Trajectories and V2V Communications

A Two-Layers Based Approach of an Enhanced-Mapfor Urban Positioning Support

IMM-UKF based land-vehicle navigation with low-cost GPS/INS

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