An Expectation–Maximization-Based Interacting Multiple Model Approach for Cooperative Driving Systems

2005 ◽  
Vol 6 (2) ◽  
pp. 206-228 ◽  
Author(s):  
D. Huang ◽  
H. Leung
Keyword(s):  
Expectation Maximization ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Cooperative Driving ◽  
Model Approach

scholarly journals Models and Algorithms for Tracking Target with Coordinated Turn Motion

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Xianghui Yuan ◽  
Feng Lian ◽  
Chongzhao Han
Keyword(s):  
Em Algorithm ◽  
Expectation Maximization ◽  
Multiple Models ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Motion Model ◽  
Single Model ◽  
Kinematic Constraint ◽  
The Em Algorithm ◽  
Turn Rate

Tracking target with coordinated turn (CT) motion is highly dependent on the models and algorithms. First, the widely used models are compared in this paper—coordinated turn (CT) model with known turn rate, augmented coordinated turn (ACT) model with Cartesian velocity, ACT model with polar velocity, CT model using a kinematic constraint, and maneuver centered circular motion model. Then, in the single model tracking framework, the tracking algorithms for the last four models are compared and the suggestions on the choice of models for different practical target tracking problems are given. Finally, in the multiple models (MM) framework, the algorithm based on expectation maximization (EM) algorithm is derived, including both the batch form and the recursive form. Compared with the widely used interacting multiple model (IMM) algorithm, the EM algorithm shows its effectiveness.

scholarly journals Fault Detection and Isolation via the Interacting Multiple Model Approach Applied to Drive-By-Wire Vehicles

Sensors ◽  
2018 ◽  
Vol 18 (7) ◽  
pp. 2332 ◽  
Author(s):  
Vincent Judalet ◽  
Sébastien Glaser ◽  
Dominique Gruyer ◽  
Saïd Mammar
Keyword(s):  
Autonomous Vehicle ◽  
Fault Detection And Isolation ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Actuator Faults ◽  
Robust Identification ◽  
The Road ◽  
Driving Assistance ◽  
Experimental Vehicle ◽  
Model Approach

The place of driving assistance systems is currently increasing drastically for road vehicles. Paving the road to the fully autonomous vehicle, the drive-by-wire technology could improve the potential of the vehicle control. The implementation of these new embedded systems is still limited, mainly for reliability reasons, thus requiring the development of diagnostic mechanisms. In this paper, we investigate the detection and the identification of sensor and actuator faults for a drive-by-wire road vehicle. An Interacting Multiple Model approach is proposed, based on a non-linear vehicle dynamics observer. The adequacy of different probabilistic observers is discussed. The results, based on experimental vehicle signals, show a fast and robust identification of sensor faults while the actuator faults are more challenging.

scholarly journals Fault Detection in High Redundancy Actuation using an Interacting Multiple-Model Approach

2009 ◽  
Vol 42 (8) ◽  
pp. 1228-1233 ◽  
Author(s):  
J. Davies ◽  
H. Tsunashima ◽  
R.M. Goodall ◽  
R. Dixon ◽  
T. Steffen
Keyword(s):  
Fault Detection ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Model Approach

Vehicle and road state estimation using interacting multiple model approach

2006 ◽  
Vol 44 (sup1) ◽  
pp. 750-758 ◽  
Author(s):  
H. Tsunashima ◽  
M. Murakami ◽  
J. Miyataa
Keyword(s):  
State Estimation ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Model Approach
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