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.

Electronic downloads

• sprinkle-modelrecovery.pdf · application/pdf · 238 kbytes

• 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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