A Safety Enhancement Broadcasting Scheme Based on Context Sensing in VANETs

Algorithm 2

The optimal estimation.

) Kalman Initialization

() Input: ,

() Output:

() while ()

() State prediction

()   ;

()   

()   obtain the measure state value

()    

()    Insert (, , );

() state revision

() gain is obtained by the formula ;

() //end of while

()  Output ();