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A New motion model for tracking of vehicles

Lennart Svensson (Institutionen för signaler och system, Signalbehandling) ; Joakim Gunnarsson (Institutionen för signaler och system, Signalbehandling)
Proc. 14th IFAC Symposium on System Identification, SYSID 2006 (2006)
[Konferensbidrag, refereegranskat]

Accurate vehicle motion models are of essential importance for modern car safety systems, as they enable more precise tracking and prediction of the tra±c. During normal driving, the driver controls the vehicle almost completely, yet, standard models, such as the constant acceleration kinematic model, fail to acknowledge the impact of the driver. In this paper, we propose a modi¯ed version of the above mentioned model, in which the e®ect of the driver is introduced as an additional acceleration. To calculate this acceleration, we approximate the driver with an optimal regulator, and derive an optimal trajectory through which the acceleration can be found. Our de¯nition of an optimal trajectory, is such that resulting path should be both comfortable, safe, fast and legal. Simulations indicate that the new model can lead to signi¯cant gains in both tracking and prediction performance.



Denna post skapades 2010-05-12.
CPL Pubid: 121540

 

Institutioner (Chalmers)

Institutionen för signaler och system, Signalbehandling

Ämnesområden

Reglerteknik
Signalbehandling

Chalmers infrastruktur