Driver parameter estimation using joint E-/UKF and dual E-/UKF under nonlinear state inequality constraints

In the development of advanced driver-assist systems (ADAS) for lane-keeping, one important design objective is to appropriately share the steering control with the driver. Hence, the steering behavior of the driver must be well known beforehand. This paper adopts the well-known two-point visual driver model to characterize the steering behavior of the driver, and conducts a series of field tests to identify the model parameters to validate the two-point visual driver model in real scenarios. Both an extended Kalman filter and an unscented Kalman filter are implemented for estimating the unknown driver parameters, using a joint-state estimation algorithm and a dual estimation algorithm, and the results are compared.

[1]  Edmund Donges,et al.  A Two-Level Model of Driver Steering Behavior , 1978 .

[2]  Philippe Chevrel,et al.  A sensorimotor driver model for steering control , 2009, 2009 IEEE International Conference on Systems, Man and Cybernetics.

[3]  Dennis S. Bernstein,et al.  Unscented filtering for interval-constrained nonlinear systems , 2008, 2008 47th IEEE Conference on Decision and Control.

[4]  Rudolph van der Merwe,et al.  The unscented Kalman filter for nonlinear estimation , 2000, Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No.00EX373).

[5]  Robert J. Miller,et al.  USING PARAMETER OPTIMIZATION TO CHARACTERIZE DRIVER'S PERFORMANCE IN REAR END DRIVING SCENARIOS , 2003 .

[6]  David H. Weir,et al.  Measurement and interpretation of driver steering behavior and performance , 1973 .

[7]  Chun Yang,et al.  Kalman Filtering with Nonlinear State Constraints , 2009 .

[8]  David N. Lee,et al.  Where we look when we steer , 1994, Nature.

[9]  Francesco Borrelli,et al.  Semi-Autonomous Vehicle Control for Road Departure and Obstacle Avoidance , 2012 .

[10]  Gregor Schöner,et al.  Investigating Human Lane Keeping through a Simulated Driver , 2012 .

[11]  Michael Flad,et al.  Individual Driver Modeling via Optimal Selection of Steering Primitives , 2014 .

[12]  Hendrik Neumann,et al.  The Two-Point Visual Control Model of Steering - New Empirical Evidence , 2011, HCI.

[13]  Robert R. Bitmead,et al.  State estimation for linear systems with state equality constraints , 2007, Autom..

[14]  Rob Gray,et al.  A Two-Point Visual Control Model of Steering , 2004, Perception.

[15]  Panagiotis Tsiotras,et al.  Design of a lane-tracking driver steering assist system and its interaction with a two-point visual driver model , 2014, 2014 American Control Conference.

[16]  A. Modjtahedzadeh,et al.  A control theoretic model of driver steering behavior , 1990, IEEE Control Systems Magazine.

[17]  D. Simon,et al.  Kalman filtering with state equality constraints , 2002 .

[18]  S. Drake.  Converting GPS Coordinates (phil lambdal h) to Navigation Coordination (ENU) , 2002 .