Journal
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
Volume 14, Issue 9, Pages 4190-4199Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TII.2018.2828125
Keywords
Automated vehicle; lateral velocity; measurement delay; preceding target vehicle (PTV); state estimation; yaw rate
Categories
Funding
- National Natural Science Foundation of China [51605285]
- National Key Research and Development Program of China [2017YFB0102503]
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Automated vehicle control requires full knowledge of motion behavior of the preceding target vehicles (PTVs), and the states such as longitudinal/lateral velocity and yaw rate are critical for the PTV behavior description. However, the PTV's lateral states estimation have seldom been addressed in the state-of-the-art literatures. Aimed at providing reliable PTV lateral states, this paper presents a novel combined model-based estimation scheme. Different from the conventional PTV models, the proposed model is constructed based on the host-target vehicle dynamics and road constraints. Specifically, steering angle of the PTV is included in the state vector. The measurements, such as heading angle, road curvature, and lateral distance to the lane center, are available from an on board vision system. As a vision system inevitably has measurement delay, a modified Kalman filter is developed to address the sampling issue. To verify the proposed approach, hardware-in-the-loop experiments are conducted in designed testing scenarios.
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