Unscented kalman filtering for vehicle manoeuvre recognition

15th World Congress on Intelligent Transport Systems and ITS America Annual Meeting 2008

Volumn 10, Issue , 2008, Pages 6730-6739

  Schubert, Robin ^a   Wanielik, Gerd ^a  

^a CHEMNITZ UNIVERSITY OF TECHNOLOGY   (Germany)

Author keywords

Collision avoidance; EKF; IMM; Manoeuvre detection; UKF; Vehicle tracking

Indexed keywords

COLLISION MITIGATION SYSTEMS; EKF; HIDDEN MARKOV PROCESS; IMM; INTERACTING MULTIPLE MODEL FILTER (IMM); LANE CHANGING MANOEUVRES; UKF; UNSCENTED KALMAN FILTERING;

COLLISION AVOIDANCE; INTELLIGENT SYSTEMS; KALMAN FILTERS; TRACKING (POSITION); TRAFFIC CONTROL; VEHICLE ACTUATED SIGNALS;

INTELLIGENT VEHICLE HIGHWAY SYSTEMS;

EID: 84879007286     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

1. Liang Zhao, Liang Zhao, and C. Thorpe. Qualitative and quantitative car tracking from a range image sequence. In C. Thorpe, editor, Proc. IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pages 496-501, 1998.
2. K. Weiss, N. Kaempchen, and A. Kirchner. Multiple-model tracking for the detection of lane change maneuvers. In Intelligent Vehicles Symposium, 2004 IEEE, pages 937-942, 14-17 June 2004.
3. Rafael Toledo-Moreo, Miguel A. Zamora-Izquierdo, and Antonio F. Gomez-Skarmeta. Multiple model based lane change prediction for road vehicles with low cost gps/imu. In Miguel A. Zamora-Izquierdo, editor, Proc. IEEE Intelligent Transportation Systems Conference ITSC 2007, pages 473-478, 2007.
4. Simon J. Julier and Jeffrey K. Uhlmann. Unscented filtering and nonlinear estimation. Proceedings of the IEEE, 92(3):401-422, 2004.
5. Simon Julier and Jeffrey K. Uhlmann. A general method for approximating nonlinear transformations of probability distributions. technical report, RRG, Dept. of Engineering Science, University of Oxford, November 1996.
6. Eric A.Wan and Rudolph van der Merwe. Kalman Filtering and Neural Networks, chapter The Unscented Kalman Filter, pages 221-280. Adaptive and Learning Systems for Signal Processing, Communications, and Control. John Wiley & Sons, Inc., 2001.
7. Branko Ristic, Sanjeev Arulampalam, and Neil Gordon. Beyond the Kalman Filter - Particle Filters for Tracking Applications. Artech House, 2004.
8. Aris Polychronopoulos, Ullrich Scheunert, and Fabio Tango. Centralized data fusion for obstacle and road borders tracking in a collision warning system. In Proc. 7th International Conference on Information Fusion, Stockholm, Sweden, 2004.
9. Manolis Tsogas, Aris Polychronopoulos, and Angelos Amditis. Unscented kalman filter design for curvilinear motion models suitable for automotive safety applications. In Proc. 8th International Conference on Information Fusion, pages 1295-1302. IEEE, 2005.
10. Basel Fardi, Hendrik Weigel, Gerd Wanielik, and Kiyokazu Takagi. Road border recognition using fir images and lidar signal processing. In Proc. IEEE Intelligent Vehicles Symposium, pages 1278-1283, 2007.
11. Y. Bar-Shalom and X.-R. Li. Multitarget-Multisensor tracking: Principles and Techniques. YBS Publishing, Storrs, CT, 1995.