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In the development of advanced driver-assist systems (ADAS) for lane-keeping or cornering, one important design objective is to appropriately share the steering control with the driver. The steering behavior of the driver must therefore be well characterized for the design of a high-performance ADAS controller. This paper adopts the well-known two-point visual driver model to characterize the steering...
Vehicle modeling is an essential part of controller design and validation. This is especially true for model-based control design approaches, such as model-predictive control (MPC), which require an accurate model for predicting the vehicle motion. In this paper we propose a new adaptive joint-state unscented Kalman filter (JUKF) to estimate the unknown vehicle parameters using experimentally collected...
In the development of advanced driver-assist systems (ADAS) for lane-keeping, one important design objective is to appropriately share the steering control with the driver. Hence, the steering behavior of the driver must be well known beforehand. This paper adopts the well-known two-point visual driver model to characterize the steering behavior of the driver, and conducts a series of field tests...
In the research of vehicle autonomy, including the development of driver-assist systems (DAS), one important design objective is the vehicle's lateral stability during lane-tracking. This paper adopts the well-known two-point visual model to characterize the steering behavior of the driver, and investigates the optimal driver model parameters that minimize the H2-norm of the closed-loop system. A...
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