The prediction of lane changes has been proven to be useful for collision
avoidance support in road vehicles. This paper proposes an interactive
Multiple model (IMM)-based method for predicting lane changes in highways.
The sensor unit consists of a set of low -cost Global Positioning
System/inertial measurement unit (GPS/IMU) sensors and an odometry captor
for collecting velocity measurements.
Extended Kalman filters (EKFs) running in parallel and integrated by an
IMMbased algorithm provide positioning and maneuver predictions to the user.
The maneuver states Change Lane (CL) and Keep Lane (KL) are defined by two
models that describe different dynamics.
Different model sets have been studied to meet the needs of the IMM-based
algorithm. Real trials in highway scenarios show the capability of the system to
predict lane changes in straight and curved road stretches with very short
latency times.
