Jonathan Sprinkle and J. Mikael Eklund and Humberto Gonzalez and Esten Grotli and Pannag Sanketi and Michael Moser

EECS Department, University of California, Berkeley

Technical Report No. UCB/EECS-2008-92

August 12, 2008

http://www2.eecs.berkeley.edu/Pubs/TechRpts/2008/EECS-2008-92.pdf

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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BibTeX citation:

@techreport{Sprinkle:EECS-2008-92,
    Author= {Sprinkle, Jonathan and Eklund, J. Mikael and Gonzalez, Humberto and Grotli, Esten and Sanketi, Pannag and Moser, Michael},
    Title= {Recovering Models of a Four-Wheel Vehicle Using Vehicular System Data},
    Year= {2008},
    Month= {Aug},
    Url= {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2008/EECS-2008-92.html},
    Number= {UCB/EECS-2008-92},
    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.},
}

EndNote citation:

%0 Report
%A Sprinkle, Jonathan 
%A Eklund, J. Mikael 
%A Gonzalez, Humberto 
%A Grotli, Esten 
%A Sanketi, Pannag 
%A Moser, Michael 
%T Recovering Models of a Four-Wheel Vehicle Using Vehicular System Data
%I EECS Department, University of California, Berkeley
%D 2008
%8 August 12
%@ UCB/EECS-2008-92
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2008/EECS-2008-92.html
%F Sprinkle:EECS-2008-92