TY - GEN
T1 - Model-based vehicle state estimation using previewed road geometry and noisy sensors
AU - Brown, Alexander A.
AU - Brennan, Sean N.
PY - 2012
Y1 - 2012
N2 - This paper proposes a method for using previewed road geometry from a high-fidelity map to improve estimates of planar vehicle states in the presence of unmodeled sensor bias errors. Using well-established, linear models for representing human driver behavior and for planar vehicle states, a causal link between previewed road geometry and vehicle states can be derived. Cast as an augmented, closed-loop linear system, the total driver-vehicle-road system's states are estimated using a Kalman filter. Estimation results from this filter using simulated noisy measurements of vehicle states and map-based measurements of previewed road geometry are compared to standard Kalman filters with identical measurements of vehicle states alone. The effects of errors in driver modeling, vehicle nonlinearity, and measurement disturbances on the estimator's fidelity are also examined and discussed.
AB - This paper proposes a method for using previewed road geometry from a high-fidelity map to improve estimates of planar vehicle states in the presence of unmodeled sensor bias errors. Using well-established, linear models for representing human driver behavior and for planar vehicle states, a causal link between previewed road geometry and vehicle states can be derived. Cast as an augmented, closed-loop linear system, the total driver-vehicle-road system's states are estimated using a Kalman filter. Estimation results from this filter using simulated noisy measurements of vehicle states and map-based measurements of previewed road geometry are compared to standard Kalman filters with identical measurements of vehicle states alone. The effects of errors in driver modeling, vehicle nonlinearity, and measurement disturbances on the estimator's fidelity are also examined and discussed.
UR - http://www.scopus.com/inward/record.url?scp=84885895436&partnerID=8YFLogxK
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U2 - 10.1115/DSCC2012-MOVIC2012-8762
DO - 10.1115/DSCC2012-MOVIC2012-8762
M3 - Conference contribution
AN - SCOPUS:84885895436
SN - 9780791845318
T3 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
SP - 591
EP - 600
BT - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
T2 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Y2 - 17 October 2012 through 19 October 2012
ER -