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Recovering Models of a Four-Wheel Vehicle Using Vehicular System Data
Jonathan Sprinkle, J. Mikael Eklund, Humberto Gonzalez, Esten Ingar Grøtli, Pannag R Sanketi, Michael Moser, Shankar Sastry

Citation
Jonathan Sprinkle, J. Mikael Eklund, Humberto Gonzalez, Esten Ingar Grøtli, Pannag R Sanketi, Michael Moser, Shankar Sastry. "Recovering Models of a Four-Wheel Vehicle Using Vehicular System Data". Technical report, University of California, Berkeley, August, 2008.

Abstract
This paper discusses efforts to parameterize the actuation models of a four-wheel automobile for the purposes of closed-loop control. As a novelty, the authors used the equipment already available or in use by the vehicle, rather than expensive equipment used solely for the purpose of system identification. After rudimentary measurements were taken of wheelbase, axle width, etc., the vehicle was driven and data were captured using a controller area network (CAN) interface. Based on this captured data, we were able to estimate the feasibility of certain closed-loop controllers, and the models they assumed (i.e., linear, or nonlinear) for control. Examples were acceleration and steering. This work served to inform the separation of differences in simulation and vehicle behavior during vehicle testing.

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Citation formats  
  • HTML
    Jonathan Sprinkle, J. Mikael Eklund, Humberto Gonzalez,
    Esten Ingar Grøtli, Pannag R Sanketi, Michael
    Moser, Shankar Sastry. <a
    href="http://chess.eecs.berkeley.edu/pubs/405.html"
    ><i>Recovering Models of a Four-Wheel Vehicle Using
    Vehicular System Data</i></a>, Technical report,
     University of California, Berkeley, August, 2008.
  • Plain text
    Jonathan Sprinkle, J. Mikael Eklund, Humberto Gonzalez,
    Esten Ingar Grøtli, Pannag R Sanketi, Michael
    Moser, Shankar Sastry. "Recovering Models of a
    Four-Wheel Vehicle Using Vehicular System Data".
    Technical report,  University of California, Berkeley,
    August, 2008.
  • BibTeX
    @techreport{SprinkleEklundGonzalezGrtliSanketiMoserSastry08_RecoveringModelsOfFourWheelVehicleUsingVehicularSystem,
        author = {Jonathan Sprinkle and J. Mikael Eklund and
                  Humberto Gonzalez and Esten Ingar Grøtli and
                  Pannag R Sanketi and Michael Moser and Shankar
                  Sastry},
        title = {Recovering Models of a Four-Wheel Vehicle Using
                  Vehicular System Data},
        institution = {University of California, Berkeley},
        month = {August},
        year = {2008},
        abstract = {This paper discusses efforts to parameterize the
                  actuation models of a four-wheel automobile for
                  the purposes of closed-loop control. As a novelty,
                  the authors used the equipment already available
                  or in use by the vehicle, rather than expensive
                  equipment used solely for the purpose of system
                  identification. After rudimentary measurements
                  were taken of wheelbase, axle width, etc., the
                  vehicle was driven and data were captured using a
                  controller area network (CAN) interface. Based on
                  this captured data, we were able to estimate the
                  feasibility of certain closed-loop controllers,
                  and the models they assumed (i.e., linear, or
                  nonlinear) for control. Examples were acceleration
                  and steering. This work served to inform the
                  separation of differences in simulation and
                  vehicle behavior during vehicle testing.},
        URL = {http://chess.eecs.berkeley.edu/pubs/405.html}
    }
    

Posted by Jonathan Sprinkle on 14 Mar 2008.
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