Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
525371 | Transportation Research Part C: Emerging Technologies | 2010 | 15 Pages |
Collision avoidance in roads can be addressed in several ways, being cooperative systems one of the most promising options. In cooperative collision avoidance support systems (CCASS) the vehicles which constitute a scene share by means of communication links information that can be useful to detect a potentially risky situation. Typically, this information describes the kinematic state of each vehicle and can be complemented with a prediction of its next state. Indeed, the timely prediction of the next maneuver of a vehicle results beneficial to estimate the risk factor of a scene. This article presents a solution to the problem of maneuver prediction which employs a reduced number of sensors: a Global Navigation Satellite System (GNSS) receiver, one gyro, one accelerometer and the odometry. Predictions are made by a bi-dimensional interactive multiple model (2D-IMM) filter in which longitudinal and lateral motions of the vehicle are distinguished and maneuvering states are described by different kinematic models. A number of experiments were carried out with two vehicle prototypes in several circuits. The results achieved prove the suitability of the proposed method for the problem under consideration.