Determination of road vehicle motion model by constrained multiple model filtering procedures
Abstract
The paper presents a solution based on traditional methods for manoeuvring detection in road traffic. The method works in a multiple model structure with Kálmán filters and particle filters. Each manoeuver is defined and fitted into the elementary filters using different state constraints so that a unique filter is associated with each manoeuver. The multiple model structure evaluates the accuracy of the estimation of each filter and accepts the manoeuver associated with the better performing filter as current. The efficiency of the procedure is demonstrated in a simulated traffic situation where the observed object was examined from the perspective of the observation vehicle.
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