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A Novel Multi-sensors Fusion Framework based on Kalman
Filter and Neural Network for AFS Application


Journal: Transactions of the Institute of Measurement and Control
Manuscript ID: TIMC-14-0147
Manuscript Type: Original Manuscript
Date Submitted by the Author: 01-May-2014
Complete List of Authors: LIU, Junfeng; The Hong Kong Polytechnic University, Department of
Electrical Engineering
Cheng, Ka Wai Eric; The Hong Kong Polytechnic University, Department of
Electrical Engineering
Zeng, Jun; South China University of Technology, New Energy Research
Center
Keywords:
automotive systems, control systems design, data fusion, fuzzy/neural,
Intelligent control
Abstract:
An adaptive front light system (AFS) is put forward by Society of
Automotive Engineers and Economic Commission for Europe as a means of
enhancing vehicular lighting. Traditionally, AFS can be divided into three
parts: (1) a leveling subsystem to make lighting parallel to the road
surface; (2) a swiveling subsystem to change light distribution along with
the steer wheel angle; (3) a dimming subsystem to reduce or intensify the
lighting. In this paper, a new hybrid multi-sensor fusion framework that
combines a Kalman Filter with a neural network to adjust two stepper
motors controlling the vehicles headlights pitch and yaw is proposed.
Kalman Filter as the frontend is used to deal with redundant sensor signals
that are collected from sensors in the different places. Fuzzy Neutral
Network as the backend is used to generate adjustment of leveling and
swiveling angle through the integration of different type signals. An
adaptive parameter adjustment is accomplished by the proposed fusion
framework with the varying filter coefficients. The simulation and
experiment of leveling angle are conducted using the predefined
experimental data. The results of leveling angle prove that the proposed
algorithm can effectively filter out high frequency perturbation and provide
reliable outputs for stepper motor. The same results can be obtained for
swiveling subsystem. It can be concluded that the hybrid fusion framework
is a feasible approach for AFS design to accomplish data processing and
nonlinear mapping.


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A Novel Multi-sensors Fusion Framework based on
Kalman Filter and Neural Network for AFS Application
Junfeng LIU
1
, K. W. E. CHENG
1
, Jun ZENG
2

1
Department of Electrical Engineering, The Hong Kong Polytechnic University, Hong Kong
2
College of Electric Power, The South China University of Technology, Guangzhou, China

Corresponding author: Junfeng LIU, Power Electronics Research Centre and the Department of Electrical Engineering, The Hong Kong
Polytechnic University, Kowloon, Hong Kong. e-mail: jf.liu@connect.polyu.hk

Abstract
An adaptive front light system (AFS) is put forward by Society of Automotive Engineers and Economic Commission for
Europe as a means of enhancing vehicular lighting. Traditionally, AFS can be divided into three parts: (1) a leveling
subsystem to make lighting parallel to the road surface; (2) a swiveling subsystem to change light distribution along with the
steer wheel angle; (3) a dimming subsystem to reduce or intensify the lighting. In this paper, a new hybrid multi-sensor
fusion framework that combines a Kalman Filter with a neural network to adjust two stepper motors controlling the vehicles
headlights pitch and yaw is proposed. Kalman Filter as the frontend is used to deal with redundant sensor signals that are
collected from sensors in the different places. Fuzzy Neutral Network as the backend is used to generate adjustment of
leveling and swiveling angle through the integration of different type signals. An adaptive parameter adjustment is
accomplished by the proposed fusion framework with the varying filter coefficients. The simulation and experiment of
leveling angle are conducted using the predefined experimental data. The results of leveling angle prove that the proposed
algorithm can effectively filter out high frequency perturbation and provide reliable outputs for stepper motor. The same
results can be obtained for swiveling subsystem. It can be concluded that the hybrid fusion framework is a feasible approach
for AFS design to accomplish data processing and nonlinear mapping.

Key words
Adaptive Frontlight system, Multi-sensors Fusion, Fuzzy Neutral Network


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I Introduction
The adaptive frontlight system (AFS) is gradually becoming a significant safety apparatus in transportation engineering,
which can let eye comfortable and provides initial fail safe in exceptional lighting condition. Traditionally, AFS can be
divided into three parts[1]: (1) leveling subsystems to make lighting paralleled to road surface in the variation of longitudinal
slant; (2) swiveling subsystem to change light distribution along with the steer wheel angle; (3) dimming subsystem to reduce
or intensify light in accordance with circumstance. The great efforts have already been fulfilled recently; however the
majority of studies are concentrated on lighting evaluation, instead of control optimization. S. Kobayashi introduced AFS of
history, basic functionalities, and development in [2]. A structure discussion was presented to describe sensor and headlamp
components in [3]. ON-OFF control was put forward for active cornering light system to enhance illumination effect in turn
process, which can provide a confined adaptive capacity to environment[4]. A validation of the curve-bending strategies was
conducted by lighting experts from the Renault and Valeo, but the lighting optimization did not be examined[5]. AFS
discussion has already been extensively launched, but the attentions on signal processing and control strategy are fairly rare.
Because a basic AFS platform needs a number of sensor signals, including steer wheel angle, velocity sensor, light sensor,
intelligent weather recognition sensor, smart path recognition sensor, and etc., an advanced algorithm of data collection and
data processing is indispensable for the realization of effective control and reliable adjustment. The sensor signals are always
impacted by a multiple factors from outside environment, objection and vehicle status. It therefore appears that sensor
readings are uncertain because of internal and external noise sources and malfunction. Moreover, some broken sensors make
measurement meaningless in some special cases. The effective method of data fusion is significant for fast response, high
robustness and broad stabilization margin.

Currently, data fusion technology has already been adopted for noise environment to enhance signal processing ability and
minimize signals error. Meanwhile, the combination of the relevant sensor signals can make controller input more robust or
reliable. The typical vehicle applications of fusion technology primarily consist of Antilock Braking System (ABS), vehicle
positioning in land navigation system and stability assist system [7]-[10]. From algorithm perspectives, data fusion can be
accomplished by neural network [7], fuzzy logic [8] and Kalman Filter[9], and etc.. Comparing with the other approaches,
Kalman Filter is the popular approach of data preprocessing. The method of multiple Kalman Filters was proposed to
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asynchronously operate with varied rates of sensor data. However, complicated structure and low robustness are the
shortcomings for random redundant inputs[11]. The fuzzy logic based Kalman Filter is a valid approach to build adaptive
centralized, decentralized, and federated Kalman Filter[12]. The self-adapting rectification of noise covariance matrix serves
as authentic noise matching. Furthermore, the fuzzy neural network was proposed to deal with noise uncertainty, resolve the
nonlinear characteristics in fusion process, and provide multiple inputs to system. The data fusion formed with the
compounded architecture can enhance filter adaptability using fuzzy logic and neural network layers [14]. However, each
layer is completely independent with other layer, thereby lower efficiency and high redundancy. A self-tuning method can
realize the decoupling of state components and reduce the calculation burden using MA (moving average) innovation models
based on on-line identification, the optimal fusion criterion and weighted diagonal matrices. However, self-tuning method
with U-D factorized Kalman Filter has heavy calculation burden [15]. Considering the advantages and disadvantages of
previous methods, a new intelligent framework of data fusion is presented with two layer topology to implement signal
collection functionality in AFS. The first layer is Kalman Filter that is used for management of the redundant data, fault
diagnosis, hazard analysis and sensor validation. The second layer is fuzzy neural network (FNN) that is used for nonlinear
matching and optimization of feedback parameter. Compared with the abovementioned fusion methods, the two layers
structure of the proposed system are tightly integrated by feedback mechanisms of filter coefficient. Kalman output is FNN
input; while one of FNN outputs sends back Kalman Filter.

The paper is organized as follows. The dynamic characteristics of AFS are discussed in Section II, including leveling and
swiveling subsystem. The proposed data fusion is examined in Section III. The weighted Kalman Filter is examined for signal
redundancy, Fuzzy Neural Network is discussed for the different type signals, and hybrid fusion structure is presented for the
integration of both Kalman Filter and Fuzzy Neural Network. The simulation and experiment of the proposed data fusion
algorithm are conducted for leveling subsystem in Section IV followed by concluding remarks.

II AFS Dynamic Structure
A. Structure of System
AFS as shown in Fig. 1 is constructed by mechanical part, circuitry part and signal processing part. Two stepper motors
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mounted at X and Y axes implement a straightforward approach of beam regulation. The mechanical part is the integration of
stepper motors and headlamp assembly. The circuitry part contains central control unit and motor driver, and the dual closed
loop control algorithm and circuit implementation have already been presented for bus stepper motor with high precision [17].
The signal processing part characterized by this paper is crucial for the effective control and reliable output.

Fig.1 Signal flow graph of AFS

Furthermore, a number of sensors are required by AFS, which can be categorized by two types. The one is to measure vehicle
dynamics, including yaw sensor, pitch sensor, velocity sensor, acceleration sensor, and etc,; the other one is to monitor
outside environment, including GPS, image sensor, ambient sensor, and etc,. Because of the complexity and diversity of
collected signals, the pivotal approach to implement effective control is the collection of precise data with robustness and
stability. In order to simplify the discussion, the sensors of vehicle dynamics are chosen in the subsequent parts.

B. AFS Dynamic Characteristics
The dynamic model of AFS is significant for subsequent proposition of fusion framework. The model can be set up from
horizontal and vertical direction. The horizontal model as shown in Fig. 2a is used to demonstrate the relation among
swiveling angle, velocity and turning radius[18]; and the vertical model as shown in Fig.2b is used to examine static and
dynamic inclination.
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Swiveling Model

Fig2a Diagram of swiveling model [18]
The average radius of turning curve is defined as(assuming small angles):
2
(1 ) AV L L
R

+
= = (1)
where, R: Turning radius;
A: Stability factor;
V: Vehicle velocity;
L: Wheelbase length;
: Rudder angle of the front wheel decided by the steer wheel angle;
: Turning angle of vehicle
In order to throw light upon the place where vehicle will achieve t seconds later, the swiveling angle is derived as below:
180
2
o
Vt
R

= (2)
where, : swiveling angle of headlamp;
t: emergency stop time decided by safe stopping distance, initial velocity, brake structure and driver response.
After replacing R in equation (2), the swiveling angle can be further denoted by
2
180
2 (1 )
o
Vt
AV L

=
+
(3)
Therefore, the swiveling regulation of headlamp is determined by vehicle characteristics, motion state and safety distance.
Vehicle characteristics and safety distance are predefined for the given vehicle; while motion state need be collected by the
vehicle sensors.
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Leveling Model

Fig2b Diagram of inclination model
The vertical motion is the other alignment pattern, which comes from static inclination resulting from luggage and passenger,
and dynamic inclination caused by the accelerations and decelerations. The formula of leveling angle is denoted by these two
parts.
1 1
1 2
ph Kah
H H
= + = + (4)
where,
1
is static inclination angle,
2
is dynamic inclination angle,
1
/ h H is the ratio between headlamp height with
vehicle height, p is the static inclination factor decided by load weight, a is the acceleration or deceleration, K is the scale
factor between static and dynamic offset. Both swiveling and leveling model are used for the design of subsequent fusion
framework using nonlinear approximation.

III Hybrid Data Fusion Framework
In order to examine fusion framework for AFS, the mapping of theory and practical system need be conducted in advanced.
Theoretically, fusion architecture of multisensory system includes data layer, character layer, and decision layer. Since the
characteristic vector is no longer needed by AFS, the character layer is temporarily omitted in initial study. Hence, the
proposed fusion framework of AFS is a simplified structure with data layer and decision layer. Kalman filter serves as the
preprocessing of data layer that collects and pretreatments the primitive data; while the fuzzy neutral network works as the
processing of decision layer that deals with signals from data layer.

Kalman Filter has the widespread applications in target identification, robotic navigation, and etc.. The signals of low level
sensors can be collected by Kalman Filter with component redundancy. Neural network has the outstanding fault-tolerant and
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self-organization ability in the application with the different type signals. The target of the proposed fusion framework is to
tightly integrate these two methods and fully exert individual advantages. Therefore, Kalman Filter and Neural network are
discussed separately, before the hybrid fusion framework is presented based on the analysis of these two methods.
A Data Fusion using Kalman Filter
Kalman Filter is essentially a set of mathematical equations of predictor-corrector estimation to minimize the estimated error
covariance. The original formulations of Kalman Filter are denoted by the discrete difference equation as below.
[ 1] [ ] [ ] [ ] x k Ax k Bu k w k + = + + (5)
The state variable is
n
x R , the measurement variable is
m
y R , and the gauging equation is
[ ] [ ] [ ] y k Hx k v k = + (6)
w[k] and v[k] are the process incentive and measurement noise respectively, both of which are uncorrelated white noise with
Gaussian distribution.
( ) ~ (0, ) p w N Q (7)
( ) ~ (0, ) p v N R (8)
Q and R are the covariance matrix of process incentive and measurement noise respectively.
Kalman Filter is accomplished by the time iteration and feedback. The first step of Kalman Filter is time update that moves
current state variable and constructs the priori estimation using error covariance matrix, and the second step of Kalman Filter
is measurement update that feedbacks state variable and constructs the posteriori estimation using the combination of the
priori estimation and new measurements. In brief, the time update equation is to forecast state, and measured update equation
is to correct state.
Prediction:
[ 1| ] [ | ] [ ]
[ 1| ] [ | ]
T
x k k Ax k k Bu k
P k k AP k k A Q
+ = +
+ = +
(9)
Correction:
1
[ ] [ | 1] ( [ | 1] )
[ ] [ | 1] [ ]( [ ] [ | 1])
[ ] ( [ ] ) [ | 1]
T T
K k P k k H HP k k H R
x k x k k K k z k Hx k k
P k I K k H P k k

= +
= +
=
(10)
Firstly, the filter estimates the state x[k], and feedbacks the measurement in prediction equation. Secondly, the correction
equation calculates the Kalman gain K[k], and then measures the output z[k] to update the posteriori estimation. Lastly, the
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state posteriori covariance is updated. After the prediction and correction, the remaining process is iteration operation, i.e.,
the posteriori estimation of current moment is viewed as the priori estimation of next moment. Actually, R as covariance of
measurement noise is easy to be observed. However, Q as covariance of process incentive noise is hard to be obtained by
direct observation. If Q and R are constant, the estimation error covariance R and Kalman gain K are convergence with
constant. However, Q and R are variable in the case that dynamic noise and measured process noise are not the white noise
with zero mean. The estimated error variance is divergent to exceed the preset error for the varied Q and R. In order to deal
with noise of non-zero mean, a self-learning Kalman Filter is introduced with adaptive parameter adjustment. The structure of
self-learning filter is demonstrated in Fig. 3. a
k
and b
k
are the varying coefficients when updating
k
P and
k
K . Consequently,
iteration algorithm of parameter correction can be modified by
1
[ | ]
[ | 1] ( [ | 1] )
[ 1| ]
[ ]
T
k
T T
k
P AP k k A a Q
K P k k H HP k k H b R
k k
k

= +
= +
+
(11)

Fig. 3 Structure of self-learning Kalman Filter

In order to overcome high error risk resulting from arithmetic average, the weighted average is adopted to enhance the
sensors redundancy and fault tolerance. For instance, the pitch angle is used not only for AFS, also for ABS (Antilock Brake
System). Traditionally, the pitch state is collected from at least two inclination sensors that are installed on the front and rear
chassis. In order to provide pitch state with high precision, more inclination sensors installed upon different places are
required, such as left-front, left-rear, right-front, and right-rear. There are three methods to accomplish the weighted average,
including the matrix weighted linear minimum, scalar weighted optimization, and diagonal matrix weighted optimization[19].
The fusion of matrix weighted linear minimum provides independent error estimation for global optimization. Meanwhile,
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the fusion of diagonal matrix weighted algorithm is the effective tradeoff of the precision and calculation burden. Hence, the
weighted diagonal matrix is chosen to overcome signal redundancy in AFS. Suppose,
i
x , (i=1,2l) are the unbiased
estimation of x, E(
i
x ) = E(x),
0
x is the weighted estimation of state x.
0
1

l
i i
t
x A x
=
=

(12)
The weighted diagonal matrix is defined as
0
0
ii
i
in
a
A
a


=



O (13)
1
1
( )
, 1,...,
( )
T ii
ii T ii
e P
a i n
e P e

= = (14)
where [0...1, 0, ...0]
T
i
e = is n1 column vector with 1 in line i, and 0 in the other lines,
ii
P is the covariance matrix defined as
( ) ( )
11 1
( ) ( )
1
ii ii
l
ii
ii ii
l ll
P P
P
P P


=



K
M O M
L
(15)
The optimization criterion of diagonal matrix weighted fusion is
0
= MinJ TrP ;
1
0
[ ( ) ] , 1,...,
T ii
i
P e P e i n

= = ; 16
Consequently, the modified Kalman Filter is adopted as the frontend of data preprocessing with self-learning and matrix
weighted average.
B Data Fusion using Fuzzy Neural Network
Since FNN(Fuzzy Neural Network) can implement data processing from different sensors and the optimal search of feedback
parameter (a
k,
b
k
), it is chosen as the backend of proposed fusion framework. The fuzzy logic mimics the experience of the
human through ruler-making; while the neural network dynamically updates and corrects output without human intervention.
Theoretically, FNN is a neural network with fuzzy signals and/or fuzzy weight, or sigmoidal transfer function, all of which
are defined by Zadehs extension principle. In virtual of monotone mapping and multiple inputs, BP(back propagation)
network combining with fuzzy inference system have already been used for wheel abrasion rectification, eyestrain correction,
and other compensation issues. Thus, the fuzzy ruler updated by the neural network is adopted for data processing of AFS,
i.e., the inputs of neural network are discrete values; while the outputs of neural network are smooth and robust. An optimal
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calibration is achieved in the circumstance of strong disturbance.
The structure of backend FNN is constituted by three layers.
Prerequisite Layer
Ruler Training Layer
Clearness Layer
The analog signals from Kalman Filter are firstly processed by prerequisite layer that translates analog signals into logic
variables. Secondly, the ruler training layer is to train neural network, and T-S model is followed by the adjustments of weight
and threshold. Lastly, controller signals and the correction parameters are generated by the clearness layer.
Prerequisite Layer
The membership function of input fuzzification is Gaussians function in this layer.
Input of the node:
1 2 1
( ) /
i i ij ij
I x a b = (17)
Output of the node:
1 2
exp( ),
ij
ij A ij
O I = = (18)
where, i=1, 2n; j=1, 2n, and
ij
a ,
1
ij
b are the centre and width of Gaussians function.
The road type can be fuzzified into 4 types as motorway, bad weather, country way and town way. The ratio of headlamp to
vehicle height can be fuzzified into 10 levels caused by wheel weary. The same method can be applied into the static pitch
angle and vehicle acceleration. The output decision after defuzzification is 50 levels. Since the leveling angle in North
American is not more than 22 degrees, the leveling adjustment of each step is less than 0.44 degree.

The road type also contains 4 types for swiveling alignment. The steer wheel angle has 50 levels, vehicle velocity has 20
levels, and the output of swiveling angle is divided as tiny as possible to 50 levels. In U.S. market, the steerable headlamp
becomes valid only above 10mph. The maximum left adjustment of swiveling angle is 15 degrees, and maximum right
adjustment of swiveling angle is 5 degrees. Since the possible range of swiveling angle is 20 degrees, the minimal adjustment
of swiveling angle is 0.4 degree. Because the angle variation is small from the neighboring level to new level, both leveling
and swiveling adjustment have a tiny change of illumination intensity at the given lighting spot.
Rule Training Layer
For the sake of timesaving, the sigmoid function is chosen as transfer function of nodes. Issue of multiple inputs and outputs
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is effectively solved, and the complexity of ruler table is decreased. The ruler table is customized as the definition of
prerequisite Layer.
Assuming
1 2 3 4 5
[ , , , , ]
k k k k k k
X x x x x x = , the output of j
th
node
jk
Z is
1
( )
n
jk ij ik
i
Z w x
=
=

;
ij
w is the link weight between input i and node j, (.) is the Sigmoid, i.e., ( ) 1/ (1 )
v
v e

= + .

Once the sample is collected, BP network learns or calculates the outputs. The ruler mapping of fuzzy logic is replaced with
the neural network, and the weight is corrected for squared error minimization. Since the ruler mapping is accomplished by
the training, the network is viewed as the memory to store the nonlinear mapping between inputs and outputs. The learning
algorithm can be summarized as below[20]:
Step1: Network weights and parameters of membership function are initialized with small random values, and the
evaluation error E is set to 0 for further iteration;
Step2: Execute BP algorithm for weights and parameters adjustment;
Step3: Repeat the procedure to calculate the fuzzy output vector O
p
and evaluation error function for weights
adjustment;
Step4: Cumulative cycle error is calculated by adding the present error with E;
Step5: The training cycle is completed. If E<E
max
, program terminates the training session. If E>E
max
, E is set to 0 and
program initiates a new training cycle by going back to step2.
The iterative correction can regulate parameters and weights step by step; thereby the control signal can be obtained with the
optimal outputs.

The chosen structure is straightforward and timesaving. BP network has the superiority of multivariable nonlinear matching,
as well as the real-time response can be guaranteed by parallel and offline training. The offline learning accomplished by
automaker before delivery is usually timesaving. However, the deviation of real and calculation value becomes large caused
by the varied operational condition, such as the wear and tire pressure variation. The fuzzy logic is an effective approach that
dynamic deviation can be mitigated and compensated. When the high-frequency disturbance is introduced, the low beam
starts to vibrate for disturbance compensation. Since the fusion outputs are fallen into the countable levels resulting from the
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adoption of fuzzy logic, the vibration state can be avoided and the eyestrain could be released in dark driving environment.

C Hybrid Data Fusion Framework
The hybrid framework is proposed for AFS to combine Kalman Filter with MIMO(Multiple Inputs Multiple Outputs) FNN.
The filter is to deal with redundant sensors that collect the signals from sensors in the different places. FNN is to generate
angle adjustment through the integration of different type signals. The diagram as shown in Fig. 4 demonstrates the structure
of hybrid data fusion that combines parameter feedback and feedforward mechanisms to improve performance. Since FNN
can optimize the parameters a
k
and b
k
of self-learning Kalman Filter, a adaptive parameter adjustment is accomplished by the
proposed fusion framework with the varying coefficients.

Fig. 4 Structure diagram of the hybrid data fusion

In the future developments, the sensors monitoring outside environment as image processing and GPS navigation can be
introduced to provide forecasting capacity. GPS navigation serves as locating depending on the distance measurement
between vehicle antenna and tracked satellite, and at least four satellites are required to find an accurate location. The
primitive signals collected by GPS receivers need go through the troposphere and ionosphere. The noises of white or colored,
linear or nonlinear, determinist or random significantly affect the authentic signals, and produce more obstacles for authentic
signal collection. In the future, the hybrid fusion framework with disturbance rejection needs further study for the nonlinear
ability and parallel data computing.

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IV Simulation and Discussion
The simulations are outlined to demonstrate the effectiveness and accuracy of the proposed fusion framework. The simulation
is conducted by the MATLAB R2008a, and computer configuration is Microsoft Windows XP SP2 with Intel(R) Core(TM)2
Duo CPU E8200@2.66GHZ.

From the mathematic models of swiveling and leveling adjustment, the relation of swiveling angle to steer wheel angle and
velocity is illustrated in Fig. 5a; and the relation of leveling angle to acceleration and static inclination is illustrated in Fig.5b.
It can be found from the Fig.5a that the swiveling angle changes along with velocity and steer wheel angle with nonlinear
relation. AFS adjusts swiveling angle quickly at initial stage, and slowly compensates swiveling angle nearby the peak. Once
the swiveling adjustment reaches 17 degree, the surface approaches to 22 degree smoothly and slowly. It can be found from
Fig.5b that the leveling angle has the linear relationship with acceleration and static inclination. Therefore, the adjustment of
vertical direction is adopted for subsequent simulation and experiment.

Fig.5 The relations of swiveling and leveling angle (a) Relation of swiveling angle to steer angle and velocity(stability factor is 0.5, and wheel base is 2). (b)
Relation of leveling angle to acceleration and inclination(h1/H is 0.5, and K is 0.5).

The simulation is to testify the nonlinear approximation of the proposed fusion framework, and the simulation diagram is
established as shown in Fig.6. The steer wheel angle and acceleration are outside inputs with white noise disturbance. The
three signals from steer angle sensors are processed by weighted Kalman Filter; while the acceleration signal is processed by
adaptive Kalman Filter. The derived signals of Kalman Filter are put into the object model and FNN block. The outputs of
object model and FNN block are compared from the motions of horizontal and vertical direction.
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Fig.6 The simulation diagram of proposed system

The leveling motion is trained by FNN and testified by the simulation results. The training sample of leveling motion comes
from 40 meters radius experiment [21]; as well as 64 group samples are used to adjust the weight matrix and ,
ij ij
C . The
inertia factor and study ratios are defined as 0.75. The simulation results are demonstrated in Fig. 7. The training of FNN is
shown in Fig. 7a. The desired and training outputs are illustrated in a.I&a.II respectively. The error curve is shown in a.III for
convergence verification. The difference of the desired and training output is shown in a.IV. The generalization results of
FNN are shown in Fig. 7b. In generalization simulation, new inputs are sent into FNN trained by abovementioned samples,
and FNN outputs are compared with desired output. The generalization results prove that the proposed fusion structure has
the excellent characteristics of the multivariable nonlinear approximation.

Fig.7 Simulation results of leveling motion. (a) FNN training in leveling adjustment. (b) FNN generalization in leveling adjustment.
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It can be found from the simulation results that adaptive Kalman Filter combined with FNN can effectively restore the
primitive signal. The diagonal matrix fusion realizes the local optimization, decrease information redundancy, and cut down
the calculation burden. FNN can implement the mathematic model with multivariable nonlinear characteristics. If more
training samples are used for training, the precision of FNN approximation can be improved significantly.

The experimental prototype as shown in Fig.8 is developed by AVR Micro programmed Control Unit (MCU) and driver of
Application Specific Standard Products (ASSP). It can be found that the headlamp system is constructed by headlamp
assembly, stepper motors, sensor unit, and integrated controller and motor driver. The stepper motors are packaged into
headlamp assembly to facilitate the wiring and production.

Fig. 8a The front view of AFS

Fig.8b The side view of AFS
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In order to simplify the implementation, the input signals are clean without measured noise, and the weighted Kalman Filter
is ignored. The offline training is accomplished by computer using Matlab, and the derived weights and parameters are used
to configure the matrix of MCU. The experimental results are demonstrated in Fig. 9. The measured curve of leveling angle
and acceleration is shown in Fig. 9a, and the measured curve of leveling angle and static inclination is shown in Fig. 9b.

Fig. 9 The leveling angle variations. (a) The relation of leveling angle and acceleration. (b). The relation of leveling angle and static inclination angle.

It can be found from Fig. 9 that the range of leveling angle is changed from 0 to 8 degree. The relation of leveling angle with
acceleration is linear over the acceleration range from -30m/s
2
to 30m/s
2
. The relation of leveling angle with inclination angle
is close to linear relationship over the entire range of inclination angle. A small nonlinear region can be found when the
inclination angle is over 2.7 degree. The root cause is the nonlinear approximation become worse with the large inclination
angle. If more training samples are used to train the parameters, the precision of FNN approximation can be improved. The
same results can be obtained for the simulation and experiment of swiveling angle. Therefore, the proposed hybrid fusion can
effectively accomplish nonlinear mapping and provide reliable outputs for stepper motor.

V Conclusions
As one of the pivotal security apparatus, AFS plays more and more important role in night ride to decrease the accident
occurrence. In this research, a hybrid sensor fusion framework is present to tightly combine Kalman Filter with FNN.
Kalman Filter as the frontend is used to deal with redundant sensor signals that are collected from the sensors in the different
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places. Fuzzy Neutral Network as the backend is used to generate angle adjustment through the integration of different type
signals. The coupling between two layers improves the performance and realizes the optimization. The simulation and
experiment of leveling angle are conducted. The results of leveling angle prove that the hybrid fusion framework is an
effective approach to filter out high frequency perturbation and provide reliable outputs for stepper motor.

When more complicated sensors are introduced into AFS, such as navigation system and GPS, the proposed framework can
optimize performance of the frontend filter and backend fusion. This kind of pattern with multiple layers is open and
transparency for multiple inputs and outputs, so as to simplify the controller design and improve the robustness. Many
advanced algorithm with human intelligence and experience can be introduced into the data processing and controller
implementation. The performance improvement in complicated disturbance environment and multiple signal sources still
need further study in the future.

VI Acknowledgement
The authors gratefully acknowledge all the support from Research Office of the Hong Kong Polytechnic University under
project G-YG76.

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