{"title":"Predicting Vehicle Control Errors in Emergency Swerving Maneuvers","authors":"Michal Schmidt, Daniel Töpfer, S. Schmidt","doi":"10.1109/RoMoCo.2019.8787383","DOIUrl":null,"url":null,"abstract":"This paper presents a method to estimate the model error of a controlled system from real experiments using nonlinear optimization. The method is employed on an automated vehicle performing emergency swerving maneuvers in real driving tests. By estimating the underlying model error directly from real-world experiments we are able to predict the vehicles lateral error for evasive maneuvers using error propagation on the linearized feedback system.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RoMoCo.2019.8787383","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
This paper presents a method to estimate the model error of a controlled system from real experiments using nonlinear optimization. The method is employed on an automated vehicle performing emergency swerving maneuvers in real driving tests. By estimating the underlying model error directly from real-world experiments we are able to predict the vehicles lateral error for evasive maneuvers using error propagation on the linearized feedback system.
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