Sensor Fusion for Vehicle Positioning in Intersection Active Safety Applications
Conference contribution, 2006

Global Positioning System (GPS) is being increasingly used in active safety applications. One field of active safety in which navigation information can be used is Intersection Active Safety Applications (IASA) which requires a precise and continuous estimate of vehicle position and heading direction to function properly. In this paper an implementation of Extended Kalman Filter for estimation of vehicle position and heading direction in an intersection active safety application is presented. The algorithm was tested on a complex urban trajectory of 2 km long and showed very encouraging results.

Sensor Fusion

Intersection Active Safety Applications

Kalman Filter


Tohid Ardeshiri

Sogol Kharrazi

Chalmers, Applied Mechanics, Vehicle Safety

Jonas Sjöberg

Chalmers, Signals and Systems, Systems and control, Mechatronics

Jonas Bärgman

Mathias R Lidberg

Chalmers, Applied Mechanics, Vehicle Safety

8th International Symposium on Advanced Vehicle Control

Subject Categories

Vehicle Engineering



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