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Modeling Vehicle Lateral Dynamics by Gaussian Processes

[+] Author Affiliations
David J. Broderick, David M. Bevly, John Y. Hung

Auburn University, Auburn, AL

Paper No. DSCC2010-4151, pp. 827-834; 8 pages
doi:10.1115/DSCC2010-4151
From:
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME

abstract

A method of modeling a vehicle’s lateral dynamics is investigated. Gaussian processes (GP) are used to estimate the side slip and yaw rate of the vehicle. A method of clustering the inputs to the GPs is also investigated and the effects of a key parameter, the clustering threshold, are examined. Sensitivity of this parameter is considered and a compromise is found between model accuracy and computation time. A discussion of how these methods can be extended to online adaptation of the estimators is included.

Copyright © 2010 by ASME

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