Modeling Vehicle Lateral Dynamics by Gaussian Processes

Modeling Vehicle Lateral Dynamics by Gaussian Processes. Broderick, D. J., Bevly, D. M., & Hung, J. Y. In ASME 2010 Dynamic Systems and Control Conference, Volume 2, pages 827–834, Cambridge, Massachusetts, USA, January, 2010. ASMEDC.

Paper doi abstract bibtex

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.

@inproceedings{broderick_modeling_2010,
	address = {Cambridge, Massachusetts, USA},
	title = {Modeling {Vehicle} {Lateral} {Dynamics} by {Gaussian} {Processes}},
	isbn = {978-0-7918-4418-2},
	url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2010/44182/827/348867},
	doi = {10.1115/DSCC2010-4151},
	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.},
	urldate = {2024-06-20},
	booktitle = {{ASME} 2010 {Dynamic} {Systems} and {Control} {Conference}, {Volume} 2},
	publisher = {ASMEDC},
	author = {Broderick, David J. and Bevly, David M. and Hung, John Y.},
	month = jan,
	year = {2010},
	pages = {827--834},
}

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