Fig. 1.
Reference deceleration and speed profiles utilised for simulation analysis in function of distance (a) and time (b).
Fig. 2.
Accelerometer-derived deceleration and speed compared with the reference profiles (a). Deceleration errors (b) and speed errors (c) with respect to the corresponding permissible error bands.
Fig. 3.
Expanded speed uncertainties of sensors as a function of time during deceleration.
Fig. 4.
Sensor-measured speeds. Comparison of all measurements over the entire simulation period (a). Enlarged view of the last 7 seconds with permissible error bands for individual sensors (b–e).
Fig. 5.
Comparison of sensor speed errors produced by the individual sensors.
Fig. 6.
Fused speed error obtained using mean (a), median (b), and weighted (c) fusion methods.