Citation

Ogitsu T, Omae M, Shimizu H. Trans. Soc. Automot. Eng. Jpn. 2008; 39(6): 6_223-6_228.

Copyright

(Copyright © 2008, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.39.6_223

PMID

unavailable

Abstract

This study developed an algorithm for estimating sensor information at failure of the sensor on constituents of a platoon. The estimation is realized by using other vehicles' information in the platoon shared via inter-vehicle communication. For example, if a position sensor such as RTK-GPS on the leading vehicle fails, the position of the leading vehicle is estimated by motion information of the leading and following vehicles and position information and laser radar information of the following vehicle. The estimation algorithm is constructed using the Kalman filter and the algorithm is validated by simulation and experiments.

Language: ja

Keywords

Automatic Driving System; Electric Vehicle (EV)/Advanced Vehicle Control and Safety Systems (AVCSS); Intelligent Transport System (ITS); Kalman Filter; Platooning; State Estimation