|26. Juni 2017
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Prof. Jay Farrellr
Dept. of Electrical and Computer Engineering
University of California, Riverside, USA
Monday 2017-06-26 16:00
IST-Seminar-Room 2.268 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen
Key among the challenges inhibiting effective commercial deployment of autonomous vehicles is accurate and reliable awareness of world interactions. Awareness arises from onboard sensors and ubiquitous communication between vehicles and infrastructure. Vehicle coordination and safety necessitate reliable “where-in-lane” knowledge of vehicle position. This presentation will address vehicle state estimation with a focus on high precision and reliability.
Sensor fusion is critical to achieving application requirements. Standard Extended Kalman Filter (EKF) approaches are not sufficiently reliable at removing the effects of spurious measurements because the EKF approach must decide at the time each measurement arrives whether it is valid. When that decision is wrong, either measurement information is lost or the state and covariance estimates are corrupted. Either situation can result in EKF divergence.
An alternative is to maintain all measurement data within a moving time-horizon, considering various fault assumptions, and extracting the Bayesian optimal trajectory over the time horizon. This approach is referred to as a Contemplative Real-Time (CRT) estimator. This presentation will review the interrelationships between the EKF, Iterated Extended Kalman Filter (IEKF), and the CRT. As well as its closely relationship with Moving Horizon Estimation (MHE) and Simultaneous Localization and Mapping (SLAM).
Jay A. Farrell is a Professor in the Department of Electrical and Computer Engineering at the University of California, Riverside. He served the IEEE Control Systems Society (CSS) as Finance Chair for three IEEE CDC`s, on the Board of Governors for two terms, as Vice President Finance and Vice President of Technical Activities, as General Chair of IEEE CDC 2012, and as President in 2014. He was a GPS World Magazine GNSS Leader to Watch for 2009-2010 and a winner of the U.S. Department of Transportation`s Connected Vehicle Technology Challenge in 2011. He is author of over 250 technical publications and three books, a Distinguished Member of IEEE CSS, a Fellow of AAAS, and a Fellow of the IEEE.