Abstract
Many advanced driver assistant systems depend on a correct determination of the dynamic states of the host vehicle and of moving objects detected by environmental sensors. In order to estimate the correct position and orientation of tracked objects over ground, the movement of the host vehicle must be known precisely. The translation and the change of the yaw angle of the host vehicle during a short period of time are determined using integrated standard sensors, such as yaw rate, steering angle and wheel speed sensors. However, in extreme situations, such as skidding or wheel spin, the integrated sensors are not able to measure the host vehicle’s real translation and rotation. In order to provide a valid position and orientation information even in these extreme situations especially for object tracking systems, stationary objects in the environment of the vehicle are detected by an automotive laser scanner and are used as landmarks.
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(2007). Landmark Navigation for Robust Object Tracking in Skidding Maneuvers Using Laser Scanners. In: Valldorf, J., Gessner, W. (eds) Advanced Microsystems for Automotive Applications 2007. VDI-Buch. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71325-8_9
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DOI: https://doi.org/10.1007/978-3-540-71325-8_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-71324-1
Online ISBN: 978-3-540-71325-8
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