PARAMETER IDENTIFICATION OF AUTONOMOUS VEHICLES USING MULTI-OBJECTIVE OPTIMIZATION

Author： FURUKAWA TOMONARI DISSANAYAKE GAMINI

ISSN： 0305-215X

Source： Engineering Optimization, Vol.34, Iss.4, 2002-01, pp. : 369-395

Disclaimer: Any content in publications that violate the sovereignty, the constitution or regulations of the PRC is not accepted or approved by CNPIEC.

Previous Menu Next

Abstract

In order to properly operate an autonomous vehicle navigation system, it is important that the vehicle and sensor models of the vehicle are defined by an accurate parameter set. This paper presents a technique for identifying parameters of an autonomous vehicle using multi-objective optimization, which enables the identification process without introducing additional parameters. A multi-objective optimization method has been further proposed to solve the optimization problem defined for the identification efficiently and promisingly. Results of numerical examples first show that the proposed optimization method can work well for various multi-objective optimization problems. Then, the proposed identification technique has been applied to the actual parameter identification of the autonomous vehicle developed by the authors, and an appropriate parameter set has been obtained.