A Safety Enhancement Broadcasting Scheme Based on Context Sensing in VANETs

Table 1

Kalman filtering error table with different matrix .

Parameters for filtering	Predicted value	The ratio of predicted value to the measured value
	30.96	41.25%
	23.81	31.72%
	34.60	46.10%
	53.54	71.34%
	93.97	95.20%
Measured value	75.06	100%