Title :
Estimation of road shape feature using H∞ filter
Author :
Fujiwara, Yukihiro ; Fujihira, Tadahiro ; Adachi, Shuichi
Author_Institution :
Tochigi Center, Honda R&D Co. Ltd., Utsunomiya, Japan
Abstract :
In order to improve the prevention of traffic accidents, it is necessary to add more intelligence to vehicles and to control the vehicles´ mobility autonomously. In this paper, the road shape is recognized by means of the feature values. The estimation method of the feature values based on sensor fusion is proposed, in which measurements from the state-value sensors equipped in the vehicle and from GPS (Global Positioning System) are employed and H∞ filter is applied as an estimation algorithm.
Keywords :
Global Positioning System; computer vision; edge detection; feature extraction; filtering theory; intelligent control; road vehicles; sensor fusion; Global Positioning System; H∞ filter; active safety; computer vision; feature extraction; road shape feature estimation; road vehicles; sensor fusion; state-value sensors; steering control; Global Positioning System; Intelligent sensors; Intelligent vehicles; Mobile robots; Position measurement; Remotely operated vehicles; Road accidents; Sensor fusion; Shape; State estimation;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1196535
