Online Parameter Estimation Methods for Adaptive Cruise Control Systems
نویسندگان
چکیده
Two new methods are presented for estimating car-following model parameters using data collected from the Adaptive Cruise Control (ACC) enabled vehicles. The vehicle is assumed to follow a constant time headway relative velocity in which unknown and be determined. first technique batch method that uses least-squares approach estimate series of speed, space gap, lead vehicle. second an online particle filter simultaneously both state system parameters. Numerical experiments demonstrate accuracy computational performance commonly used simulation-based optimization approach. also assessed on empirical 2019 year ACC driven highway environment. Speed, recorded directly factory-installed radar unit via vehicle's CAN bus. All three return similar mean absolute error values speed spacing compared data. has fastest run-time performance, up 3 orders magnitude faster than other methods. real-time, therefore suitable streaming applications datasets can grow arbitrarily large.
منابع مشابه
channel estimation for mimo-ofdm systems
تخمین دقیق مشخصات کانال در سیستم های مخابراتی یک امر مهم محسوب می گردد. این امر به ویژه در کانال های بیسیم با خاصیت فرکانس گزینی و زمان گزینی شدید، چالش بزرگی است. مقالات متعدد پر از روش های مبتکرانه ای برای طراحی و آنالیز الگوریتم های تخمین کانال است که بیشتر آنها از روش های خاصی استفاده می کنند که یا دارای عملکرد خوب با پیچیدگی محاسباتی بالا هستند و یا با عملکرد نه چندان خوب پیچیدگی پایینی...
Robust Adaptive Control for Robotic Systems with Guaranteed Parameter Estimation
In most adaptive control systems with unknown parameters, the adaptive laws are usually designed based on the predictor/observer error or control error. In this paper, we propose a novel adaptive control scheme for nonlinear robotic systems by incorporating the parameter error into the adaptive law, which leads to guaranteed estimation performance. By carrying out filter operations, the robotic...
متن کاملExperimental comparison of parameter estimation methods in adaptive robot control
Abstmrt--In the literature on adaptive robot control a large variety of parameter estimation methods have been proposed, ranging from tracking-error-driven gradient methods to combined trackingand prediction-error-driven least-squares type adaptation methods. This paper presents experimental data from a comparative study between these adaptation methods, performed on a two-degrees-of-freedom ro...
متن کاملObserver-Side Parameter Estimation For Adaptive Control
of Thesis Presented to the Graduate School of the University of Florida in Partial Fulfillment of the Requirements for the Degree of Master of Science OBSERVER-SIDE PARAMETER ESTIMATION FOR ADAPTIVE CONTROL By Jason Nezvadovitz August 2017 Chair: Warren Dixon Major: Mechanical Engineering In adaptive control, a controller is precisely designed for a certain model of the system, but that model’s...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE transactions on intelligent vehicles
سال: 2021
ISSN: ['2379-8904', '2379-8858']
DOI: https://doi.org/10.1109/tiv.2020.3023674