A Study on Maneuvering Obstacle Motion State Estimation for Intelligent Vehicle Using Adaptive Kalman Filter Based on Current Statistical Model

Table 1

RMSE for CA and CS model.

	CA model		CS model
	Moving target with constant velocity
Position	0.1119	0.1015	0.1854	0.1212
Velocity	0.5429	0.0935	0.7292	0.0057
Acceleration	0.8933	0.5534	0.7017	0.0498
Moving target with constant acceleration
Position	0.1197	0.1090	0.1493	0.1062
Velocity	0.2899	0.1324	0.3070	0.1222
Acceleration	0.5742	0.0948	0.5503	0.0773
Moving target with variable acceleration
Position	2.4554	1.9182	0.2102	0.6944
Velocity	4.1254	3.1801	0.8365	1.5912
Acceleration	2.2319	1.0856	1.5602	1.4816