"PTV Longitudinal-Lateral State Estimation Considering Unknown Control " by Zhisong Zhou, Guofeng Zhou et al.
Abstract The mixed driving of human-driven and automated vehicles is believed to be the most likely future transportation pattern, and this work studies longitudinal-lateral state estimation for human-driven preceding target vehicles (PTVs) in such situations, as this information cannot be directly obtained by the host vehicle (HV). For longitudinal state estimation, the constant turn rate and acceleration (CTRA) model is adopted and the unscented Kalman filter (UKF) is used for estimator construction. For lateral state estimation, a PTV lateral motion model constructed based on the bicycle m...
Source: uow.edu.au