An expectation-maximization-based interacting multiple model approach for cooperative driving systems

  title={An expectation-maximization-based interacting multiple model approach for cooperative driving systems},
  author={Dongliang Huang and Henry Leung},
  journal={IEEE Transactions on Intelligent Transportation Systems},
In this paper, we present a novel combined sensor registration and fusion approach for cooperative driving in intelligent transportation systems (ITSs). A realistic augmented registration and fusion-state space model in three dimensions is first developed for dissimilar sensors. In order to have unbiased sensor registration parameter estimates, the expectation-maximization (EM) algorithm is incorporated with the extended Kalman filter (EKF) to give simultaneous state and parameter estimates… CONTINUE READING
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