Research: Algorithm based on BeiDou/GPS/IMU and anomalous driving detection

November 21, 2016  - By

By Rui Sun and Hongyang Bai, Nanjing University of Aeronautics and Astronautics, and Ke Han, Jun Hu and Washington Y. Ochieng, Imperial College London. Presented at ION GNSS+ 2016.

An Integrated Algorithm Based on BeiDou/GPS/IMU and its Application for Anomalous Driving Detection

This paper introduces an integrated algorithm for detecting lane-level anomalous driving. Lane-level high accuracy vehicle positioning is achieved by fusing GPS and Beidou feeds with Inertial Measurement Unit (IMU) using Unscented Particle Filter (UPF). Anomalous driving detection is achieved based on the application of a newly designed Fuzzy Inference System. Computer simulation and real-world field test demonstrate the advantage of the proposed approach over existing ones from previous studies.

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1 Comment on "Research: Algorithm based on BeiDou/GPS/IMU and anomalous driving detection"

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  1. William K. says:

    Of Course, the “anomalous” driving detection algorithm has no means of determining such things as lanes with debris in them or pedestrians or small animals. It also probably does not include any way to detect potholes and other pavement flaws, which, by the way, are common in much of the USA. So I anticipate that said software will choose to report said driving anomalys to the police for enforcement purposes with no thought at all about the cause. That would be sufficient reason to remove the system from one’s vehicle, and probably an adequate reason to remove that software company from the list of acceptable vendors.