제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제19권8호
  • /
  • Pages.718-724
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  • 2013
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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지능형 운전보조시스템을 위한 IMM 기법을 이용한 전방차량 거동추정기법

Neighboring Vehicle Maneuver Detection using IMM Algorithm for ADAS

  • 정선휘 (국민대학교 자동차전문대학원) ;
  • 이운성 (국민대학교 자동차전문대학원) ;
  • 강연식 (국민대학교 자동차전문대학원)
  • Jung, Sun-Hwi (Department of Automotive Engineering, Kookmin University) ;
  • Lee, Woon-Sung (Department of Automotive Engineering, Kookmin University) ;
  • Kang, Yeonsik (Department of Automotive Engineering, Kookmin University)
  • 투고 : 2013.01.25
  • 심사 : 2013.06.10
  • 발행 : 2013.08.01
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초록

In today's automotive industry, there exist several systems that help drivers reduce the possibility of accidents, such as the ADAS (Advanced Driver Assistance System). The ADAS helps drivers make correct and quick decisions during dangerous situations. This study analyzed the performance of the IMM (Interacting Multiple Model) method based on multiple Kalman filters using the data acquired from a driving simulator. An IMM algorithm is developed to identify the current discrete state of neighboring vehicles using the sensor data and the vehicle dynamics. In particular, the driving modes of the neighboring vehicles are classified by the cruising and maneuvering modes, and the transition between the states is modeled using a Markovian switching coefficient. The performance of the IMM algorithm is analyzed through realistic simulations where a target vehicle executes sudden lane change or acceleration maneuver.

키워드

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피인용 문헌

  1. Multiple Vehicle Recognition based on Radar and Vision Sensor Fusion for Lane Change Assistance vol.21, pp.2, 2015, https://doi.org/10.5302/J.ICROS.2015.14.9007
  2. Determination of Driving States using the Driving Characteristics Index vol.21, pp.3, 2015, https://doi.org/10.5302/J.ICROS.2015.14.9013