IMM based Maneuver Detection and Navigation for Road Vehicles with Low Cost GPS/IMU

The issue of collision avoidance in road vehicles has been investigated for years from very different points of view. A very interesting approach consists of the creation and interpretation of a scene of the vehicles that can be involved in a conflictive situation. In order to determine the role of the vehicle in the scene, having information of its position, orientation and velocity, as well as its current maneuver state is advisable. This paper is to present a solution based on a very low cost GPS/IMU navigation unit running an interactive multimodel filter (IMM). The description of the proposed architecture for scene creation, the multimodel filter developed and experimental trials in urban and highway scenarios are presented in this paper. The results obtained show the suitability of the proposed solution to the problem under consideration.