Vehicle trajectory prediction; Kalman filter; 차량 주행경로 예측; 칼만 필터
2015년 한국자동차공학회 학술대회 및 전시회, 2015.11, Page. 665-666
In this paper, we propose a vehicle trajectory prediction based on kalman filter. Therefore, this paper presents a state space and kalman filter for obtaining yaw angular acceleration. Also, we propose new method using both yaw rate and yaw angular acceleration to precisely predict vehicle trajectory. We validated the new method via experimental results with a test vehicle on highway system for the practicality.