Journal of Advanced Transportation / 2017 / Article / Tab 1

Research Article

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 methodFollowing vehicle performance (Buick)
Positon RMSE (m)Velocity RMSE (m/s)Availability

RTK GNSS only0.44732.869297.58%
CKF-based fusion results0.30252.1524100%

Positioning method Leading vehicle performance (Nissan)
Positon RMSE (m)Velocity RMSE (m/s)Availability

RTK GNSS only0.36092.68298.94%
CKF-based fusion results0.20562.1027100%