IMM vehicle tracking for traffic jam situations on highways
نویسنده
چکیده
Abstract – Classical vehicle tracking approaches for highway scenarios use a Kalman–filter with a single dynamic model optimised to a single driving manoeuvre. In contrast, the Interacting Multiple Model (IMM) filter allows for several parallel models which are combined to a weighted estimate. Choosing models for different driving modes such as constant speed, acceleration and strong acceleration changes permits the object state estimation to be optimised for highly dynamic driving manoeuvres. The paper describes the analysis of Stop&Go situations and the systematic parametrisation of the IMM method based on these statistics. The evaluation of the IMM approach is presented based on real sensor measurements of two laserscanners, a radar and a video image processing unit. The performance of the lateral estimation of the IMM is shown based on simulations.
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