A Novel Rear-End Collision Detection Algorithm Based on GNSS Fusion and ANFIS

Table 1

The comparison of the navigation performance of the leading and following vehicles.

Positioning method	Following vehicle performance (Buick)
	Positon RMSE (m)	Velocity RMSE (m/s)	Availability
RTK GNSS only	0.4473	2.8692	97.58%
CKF-based fusion results	0.3025	2.1524	100%
Positioning method	Leading vehicle performance (Nissan)
	Positon RMSE (m)	Velocity RMSE (m/s)	Availability
RTK GNSS only	0.3609	2.682	98.94%
CKF-based fusion results	0.2056	2.1027	100%