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.
- Dynamic Systems and Control Division
Modeling Vehicle Lateral Dynamics by Gaussian Processes
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Broderick, DJ, Bevly, DM, & Hung, JY. "Modeling Vehicle Lateral Dynamics by Gaussian Processes." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 827-834. ASME. https://doi.org/10.1115/DSCC2010-4151
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