교차로 상황에서 위협차량의 가속도 추정을 위한 필터 설계

Abstract

This paper proposes the acceleration estimation method for tracking the threat vehicle using interacting multiple model(IMM) filter. Acceleration of threat vehicle has a great potential for improving collision avoidance systems such as risk assessment, trajectory prediction and human driver intention recognition. The proposed algorithm was evaluated by MATLAB/Simulink and Prescan was used for algorithm validation.