A New motion model for tracking of vehicles

Paper in proceeding, 2006

Accurate vehicle motion models are of essential importance for modern car safety systems, as they enable more precise tracking and prediction of the tra±c. During normal driving, the driver controls the vehicle almost completely, yet, standard models, such as the constant acceleration kinematic model, fail to acknowledge the impact of the driver. In this paper, we propose a modi¯ed version of the above mentioned model, in which the e®ect of the driver is introduced as an additional acceleration. To calculate this acceleration, we approximate the driver with an optimal regulator, and derive an optimal trajectory through which the acceleration can be found. Our de¯nition of an optimal trajectory, is such that resulting path should be both comfortable, safe, fast and legal. Simulations indicate that the new model can lead to signi¯cant gains in both tracking and prediction performance.