Estimation of road shape feature using H/sub /spl infin// filter

Abstract

In order to improve the prevention of traffic accidents, it is necessary to add more intelligence to vehicles and to control the vehicles' mobility autonomously. In this paper, the road shape is recognized by means of the feature values. The estimation method of the feature values based on sensor fusion is proposed, in which measurements from the state-value sensors equipped in the vehicle and from GPS (Global Positioning System) are employed and H/sub /spl infin// filter is applied as an estimation algorithm.