Model-based vehicle state estimation using previewed road geometry and noisy sensors

Alexander A. Brown, Sean N. Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish (US)
Title of host publicationASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Pages591-600
Number of pages10
Volume3
DOIs
StatePublished - Dec 1 2012
EventASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 - Fort Lauderdale, FL, United States
Duration: Oct 17 2012Oct 19 2012

Other

OtherASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
CountryUnited States
CityFort Lauderdale, FL
Period10/17/1210/19/12

Fingerprint

State estimation
Geometry
Sensors
Kalman filters
Linear systems

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Brown, A. A., & Brennan, S. N. (2012). Model-based vehicle state estimation using previewed road geometry and noisy sensors. In ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 (Vol. 3, pp. 591-600) https://doi.org/10.1115/DSCC2012-MOVIC2012-8762
Brown, Alexander A. ; Brennan, Sean N. / Model-based vehicle state estimation using previewed road geometry and noisy sensors. ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012. Vol. 3 2012. pp. 591-600
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Brown, AA & Brennan, SN 2012, Model-based vehicle state estimation using previewed road geometry and noisy sensors. in ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012. vol. 3, pp. 591-600, ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012, Fort Lauderdale, FL, United States, 10/17/12. https://doi.org/10.1115/DSCC2012-MOVIC2012-8762

Model-based vehicle state estimation using previewed road geometry and noisy sensors. / Brown, Alexander A.; Brennan, Sean N.

ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012. Vol. 3 2012. p. 591-600.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Brown AA, Brennan SN. Model-based vehicle state estimation using previewed road geometry and noisy sensors. In ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012. Vol. 3. 2012. p. 591-600 https://doi.org/10.1115/DSCC2012-MOVIC2012-8762