Longitudinal Jerk Estimation of Driver Intentions for Advanced Driver Assistance Systems

Abstract

This work aims at estimating the longitudinal jerk of the vehicle as it is acted by a human driver, in the context of preventive safety. A reliable estimate is needed to infer the current driver intention in an advanced driving assistance system developed by the authors. The derived intention-oriented model for the longitudinal dynamics is embedded into an enhanced Kalman filter that provides the user with a knob to trade off between responsiveness of the estimate and noise rejection. The scheme is fit for on-line usage, relies on signals commonly available on the CAN bus of modern vehicles, and requires a very limited number of parameters. Its effectiveness is validated on experimental data, and compared with alternative approaches.

Linear System Identification of Longitudinal Vehicle Dynamics Versus Nonlinear Physical Modelling

“…The route was chosen to incorporate a typical selection of motorways, extra-urban and urban roads, roundabouts and intersections. The route began at Centro Ricerche Fiat in Orbassano, near Turin (Italy), then went to Pinerolo via Piossasco before returning to Orbassano, a distance of 53 km driven in about 42 minutes, and is the same data as described in [3].…”

Modelling longitudinal vehicle dynamics with neural networks

“…Thanks to the availability of a set of redundant speed information from the odometers, a Kalman filter was hence used to improve both the velocity (that is not important here) and the acceleration signal. Details of a Kalman filter very similar to the present one and used on the same car are given in [10], which also describes the data and course slightly more in depth.…”

Longitudinal Vehicle Dynamics: A Comparison of Physical and Data-Driven Models Under Large-Scale Real-World Driving Conditions

“…The first route [Lancia Delta car- Fig. 1(a)] began at Centro Ricerche Fiat in Orbassano, near Turin (Italy), then went to Pinerolo, then Piossasco before returning to Orbassano, a distance of 53 km driven in about 42 minutes, and is the same data as described in [8] and as used in our previous work [28]. The Jeep Renegade was driven along a loop of approximately 25 km similar to the first route [using some of the same roads- Fig.…”