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
收藏
页码：37 / 41
页数：5
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