Validation and fusion of longitudinal positioning sensors in AVCS

Advanced vehicle control systems (AVCS) require a large number of sensors for control at different levels. Whereas all sensors contains uncertainty to some degree, different sensors are particularly useful in different situations. Therefore, sensor redundancy is essential to achieve high sensor data fidelity. In this work, sensor validation and fusion of a positioning sensor system which includes Global Positioning System receivers, a radar sensor and a linear transducer are performed. A synchronization method is suggested for the scenario in which sensors´ outputs are at different frequencies and time delays. Two types of validation and fusion algorithms, the probabilistic data association filter and fuzzy sensor validation and fusion, are implemented for the open loop test data from field tests performed in cooperation with SRI International. A closed loop simulation has been performed using a simple PID controller for the vehicle following control law within a platoon