A vehicular filter suitable for co-operative automotive safety applications

摘要: Research in the automotive field is currently focusing on exploiting co-operation among vehicles to enhance road safety, efficiency and comfort. In vehicular ad hoc networks, especially safety related applications, accuracy of information exchanged through wireless network, such as position velocity each vehicle, crucial. For this reason a robust accurate filter which also reduces measurements' noise needed. The extended Kalman used standard technique for performing recursive nonlinear estimation. However, it provides only an approximation optimal order avoid sub-optimal performance enhanced unscented used. enhancement that combination different motion models exploited, leading more modeling vehicle's movement. curvature from digital map yaw rate acceleration values vehicle are taken into consideration. proposed proven be superior compared both simple takes account specific model.