Estimation of parameters and delay in driver models using L&lt;inf&gt;1&lt;/inf&gt;-regularization

Hosseini, SeyedMehrdad; Köroğlu, Hakan; Sjöberg, Jonas

doi:10.1109/ecc.2016.7810411

Cited by 1 publication

(1 citation statement)

References 18 publications

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“…Interestingly, they adopt a simpler structure of driver model than most, which is essential to support well-determined parameter identification. Papers with a similar focus include identification of driver delay by Hosseini et al [18] and identification of a simple second order model by Mihaly and Gaspar [19]. Neither of these considers real-time adaptation which would also be needed to adapt to driver changes, though [18] uses least-squares identification which could be made recursive.…”

Section: Introductionmentioning

confidence: 99%

Real-time characterisation of driver steering behaviour

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2018

Vehicle System Dynamics

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In recent years the application of driver steering models has extended from the off-line simulation environment to autonomous vehicles research and the support of driver assistance systems. For these new environments there is a need for the model to be adaptive in real time, so the supporting vehicle systems can react to changes in the driver, their driving style, mood and skill. This paper provides a novel means to meet these needs by combining a simple driver model with a single-track vehicle handling model in a parameter estimating filter-in this case, an unscented Kalman filter. Although the steering model is simple, a motion simulator study shows it is capable of characterising a range of driving styles and may also indicate the level of skill of the driver. The resulting filter is also efficient-comfortably operating faster than real time-and it requires only steer and speed measurements from the vehicle in addition to the reference path. Adaptation of the steer model parameters is demonstrated along with robustness of the filter to errors in initial conditions, using data from five test drivers in vehicle tests carried out on the open road.

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Section: Introductionmentioning

confidence: 99%

Real-time characterisation of driver steering behaviour

Best

2018

Vehicle System Dynamics

View full text Add to dashboard Cite

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Estimation of parameters and delay in driver models using L<inf>1</inf>-regularization

Cited by 1 publication

References 18 publications

Real-time characterisation of driver steering behaviour

Real-time characterisation of driver steering behaviour

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