TY  - JOUR
PY  - 2008//
TI  - State estimation algorithm for compensating failure of position and relative position sensors during platooning using inter-vehicle communication
JO  - Transactions of Society of Automotive Engineers of Japan
A1  - Ogitsu, Takeki
A1  - Omae, Manabu
A1  - Shimizu, Hiroshi
SP  - 6_223
EP  - 6_228
VL  - 39
IS  - 6
N2  - 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.<p />  <p>Language: ja</p>
LA  - ja
SN  - 0287-8321
UR  - http://dx.doi.org/10.11351/jsaeronbun.39.6_223
ID  - ref1
ER  -