Headway Estimation of Platooned Vehicles by Dual Filter Integrated with Car-Following Model
車両追従モデルを組み込んだデュアルフィルタによる車群走行車両の車間距離推定
This paper applies a dual Unscented Kalman filter (DUKF) and a dual particle filter (DPF) for estimating the headway distance of vehicles traveling in a longitudinal platoon. Assuming that prior knowledge on the car-following model parameter is different from what is observed in a real car-following, DUKF and DPF attempt to estimate the headway by measuring the acceleration rate and velocity of all vehicles in the platoon. Numerical analysis showed that DUKF and DPF estimated the headway accurately with a satisfactorily level of estimation precision.車群追従走行する各車両の車間距離を推定する試みを行った．状態方程式を車間距離の保存則，観測方程式を追従モデルでそれぞれ定式化し，オンラインで観測される車両の加速度と速度を計測して，アンセンティッドカルマンフィルタまたはパーティクルフィルタで車間距離を動的に推定した．推定精度の検証結果を報告する．
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
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Authors:
- Suzuki, Hironori
- Ikoma, Norikazu
- Nakatsuji, Takashi
- Publication Date: 2015-3
Language
- English
- Japanese
Media Info
- Media Type: Digital/other
- Features: Figures; References; Tables;
- Pagination: pp 473-478
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Serial:
- Transactions of Society of Automotive Engineers of Japan
- Volume: 46
- Issue Number: 2
- Publisher: Society of Automotive Engineers of Japan
- ISSN: 0287-8321
- EISSN: 1883-0811
- Serial URL: https://www.jstage.jst.go.jp/browse/jsaeronbun
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Publication flags:
Open Access (libre)
Subject/Index Terms
- TRT Terms: Active safety systems; Car following; Estimating; Headways; Highway safety; Information processing; Intelligent vehicles; Kalman filtering; Traffic models; Traffic platooning
- Uncontrolled Terms: Particle filtering
- Subject Areas: Data and Information Technology; Highways; Operations and Traffic Management; Vehicles and Equipment;
Filing Info
- Accession Number: 01666827
- Record Type: Publication
- Source Agency: Japan Science and Technology Agency (JST)
- Files: TRIS, JSTAGE
- Created Date: Apr 23 2018 4:47PM