Abstract

International audience; 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.


Original document

The different versions of the original document can be found in:

http://dx.doi.org/10.1109/tmech.2017.2716838
https://hal.laas.fr/hal-01700165/document,
https://hal.laas.fr/hal-01700165/file/FINALLATEX.pdf
https://hal.laas.fr/hal-01700165,
https://academic.microsoft.com/#/detail/2625984659
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Published on 01/01/2017

Volume 2017, 2017
DOI: 10.1109/tmech.2017.2716838
Licence: CC BY-NC-SA license

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