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Table Of Contents

1.1 Background
1.2 Problem Formulation
1.3 Objective
1.4 DaimlerChrysler AG
1.5 Method
1.6 Outline
1.7 Limitations
Driver Assistance Systems
2.1 Anti-lock Braking System
2.2 Traction Control
2.3 Stability Control
2.4 Speed Limiter
2.5 Cruise Control
2.6 Hill Descent Control
2.7 Forward Collision Mitigation System
2.7.1 Distance Warning
2.7.2 Brake Assist System
2.8 Adaptive Cruise Control
2.9 Lane Guidance System
2.10 Blind-spot Warning
2.11 Systems Supported by the Controller
Basic Filter Theory
3.1 State-Space Models
3.2 Discretization
3.3 Observer
3.4 Observability
3.5 Kalman Filter
3.5.1 Process and Measurement Model
3.5.2 Discrete Time Kalman Filter Equations
3.5.3 Initialization
3.5.4 Steady State
3.5.5 Block Diagram of the Stationary Kalman Filter
3.5.6 Design Parameters
3.6 Shaping Filter
3.6.1 Shaping Filters for Non-Gaussian Process Noise
3.6.2 Shaping Filters for Non-Gaussian Measurement Noise
Choosing the Kalman Filter Parameters
4.1 Estimating the Covariances
4.2 Choosing Q and R Manually
4.3 Simulation
4.3.1 Open-Loop Simulation
4.3.2 Closed-Loop Simulation
4.4 Autotuning
4.4.1 Evaluation Using RMSE
4.4.2 Autotuning Using Matlab
4.4.3 Simulated Annealing
Kalman Filter Implementation
5.1 Overview of the Inner Control Loop
5.2 Modeling the Acceleration
5.3 Errors in the Acceleration Model
5.4 Kalman Filter Model
5.5 Choosing the Filter Parameters
Alternative Kalman Filter Models
6.1 Vehicle Speed as Feedback
6.2 Modeling the Disturbance az
6.2.1 First-Order Lag Function
6.2.2 First-Order Gauss-Markov Process
6.2.3 Identifying the Time Constant
6.2.4 Testing the Model of az
6.2.5 Higher-Order Derivative of az
6.3 Implementation and Testing in Arjeplog
6.4 Comparing the Kalman Filter Models
6.5 Comparing the Kalman Filter with a First- Order Lag Function
Change Detection
7.1 Idea of Change Detection
7.2 One Kalman Filter with Whiteness-Test
7.3 Implementation
7.4 Results
Conclusions and Future Work
8.1 Conclusions
8.2 Future Work
List of Notations
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Published by: anmartin10 on Oct 19, 2011
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