Sensor-Data-Fusion for an Autonomous Vehicle Using a Kalman-Filter

被引：0

作者：

Kasper, Roland ^{[1
]}

Schmidt, Stephan ^{[1
]}

机构：

[1] Univ Magdeburg, D-39106 Magdeburg, Germany

来源：

2008 6TH INTERNATIONAL SYMPOSIUM ON INTELLIGENT SYSTEMS AND INFORMATICS | 2008年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a method to estimate the system-state, especially the full position, of an autonomous vehicle using sensor data fusion of redundant position signals based on an extended Kalman-filter. The position is detected with the help of magnet sensors attached at the vehicle and a global camera signal with low resolution, similar to GPS. A lane marked with permanent magnets and an infrared camera are used for this purpose. The vehicle's driving dynamics are described using a nonlinear single-track model.

引用

页码：37 / 41

页数：5

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