A Path Prediction Algorithm of Surrounding Vehicles Based on Sensor Fusion for Safe Lane Change 


Vol. 45,  No. 5, pp. 828-836, May  2020
10.7840/kics.2020.45.5.828


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  Abstract

In this paper, we propose a route prediction algorithm for surrounding vehicles for advanced driver assistance system for safe lane change. The proposed algorithm makes it possible to determine whether the lane can be safely changed by recognizing the surrounding environment using radar and camera sensors and predicting the paths of the surrounding vehicles using the linear Kalman filter. The proposed algorithm consists of an input unit from radar and camera sensors, a sensor fusion unit, a path estimation unit of surrounding vehicles using the linear Kalman filter, and a lane change decision unit based on path prediction. In actual vehicle environments, the accuracy of the path prediction for the proposed algorithm is about 95%.

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  Cite this article

[IEEE Style]

J. Kim and D. S. Han, "A Path Prediction Algorithm of Surrounding Vehicles Based on Sensor Fusion for Safe Lane Change," The Journal of Korean Institute of Communications and Information Sciences, vol. 45, no. 5, pp. 828-836, 2020. DOI: 10.7840/kics.2020.45.5.828.

[ACM Style]

Jihun Kim and Dong Seog Han. 2020. A Path Prediction Algorithm of Surrounding Vehicles Based on Sensor Fusion for Safe Lane Change. The Journal of Korean Institute of Communications and Information Sciences, 45, 5, (2020), 828-836. DOI: 10.7840/kics.2020.45.5.828.

[KICS Style]

Jihun Kim and Dong Seog Han, "A Path Prediction Algorithm of Surrounding Vehicles Based on Sensor Fusion for Safe Lane Change," The Journal of Korean Institute of Communications and Information Sciences, vol. 45, no. 5, pp. 828-836, 5. 2020. (https://doi.org/10.7840/kics.2020.45.5.828)

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pISSN : 1226 - 4717
eISSN : 2287 - 3880