Estimation of Road Shape Feature using H-infinity Filter

Yukihiro Fujiwara; Tadahiro Fujihira; Shuichi Adachi

doi:10.11499/sicep.2002.0.337.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.337.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Estimation of Road Shape Feature using H-infinity Filter

Yukihiro Fujiwara, Tadahiro Fujihira, Shuichi Adachi

Author information

Keywords: Vehicle, active safety, H_∞ filter, sensor fusion

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 337

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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 state-value sensors equipped in the vehicle and from GPS (global positioning system) are employed and H_∞ filter is applied as an estimation algorithm.

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