Abstract
Research for the development of autonomous driving technology has been actively did now days. Control an autonomous vehicle, longitudinal and lateral control are required. In ADAS/Autonomous driving control, it is necessary to accurately measure and estimate the state of a vehicle. Vehicle lateral dynamics model can estimate vehicle lateral velocity in vehicle coordinate. But in order for a vehicle to keep and change in its lane, it is necessary to know the vehicle’s position and velocity information within the lane. If the lateral velocity of a vehicle on lane coordinate is estimated through this study, it will be possible to utilize the results of this study to vehicle lateral control in ADAS systems and autonomous driving systems such as lane-keeping assistance, and lane-following assistance. So this study propose lateral dynamics model can estimate vehicle lateral position and velocity on lane coordinate. Also show estimation result using proposed estimator in this study.
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