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In this paper, we address a driver behavior reconstruction problem which is important to enhance traffic safety. More specifically, the task in this study is to estimate the longitude tire force which can be transferred to the corresponding throttle/brake positions under the assumption that the steering angles are known. Although the sensors mounted on the throttle/brake pedals can directly measure...
Dynamic model based vehicle state variables observer is a step towards economical on-board sensing system. However a complex model always leads to a control system with a poor real-time performance, while a simple model cannot exhibit real characteristics of a vehicle. In order to make an accurate and sententious estimate for yaw rate and side slip angle, an ameliorated 2-DOF bicycle model containing...
The unscented Kalman filter (UKF) has become a new technique used in a number of nonlinear estimation application. Its application process includes calculating and transmitting the mean and covariance; making use of the forecast sample points and weighing calculation to forecast the mean and covariance; forecasting measurement value and covariance; at last, calculating the UKF gain, renewing state...
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