论文标题
车辆动力学模型的灵敏度分析 - 一种自动化车辆质量评估的方法
Sensitivity Analysis for Vehicle Dynamics Models -- An Approach to Model Quality Assessment for Automated Vehicles
论文作者
论文摘要
基于模型的方法在自动驾驶领域变得越来越流行。这包括运行时算法，例如模型预测控制，以及用于验证自动化车辆功能的正式和模拟方法。随着这种趋势，模型的质量对于自动化车辆安全至关重要。从模型理论中建立的工具可以应用于确保模型质量是不确定性和敏感性分析[1]。在本文中，我们对单个和双跟踪车辆动力学模型进行敏感性分析，以了解有关模型在不同操作条件下行为的见解。我们比较模型，指出有关获得的参数敏感性的最重要发现，并提供了获得见解的可能应用的示例。
Model-based approaches have become increasingly popular in the domain of automated driving. This includes runtime algorithms, such as Model Predictive Control, as well as formal and simulative approaches for the verification of automated vehicle functions. With this trend, the quality of models becomes crucial for automated vehicle safety. Established tools from model theory which can be applied to assure model quality are uncertainty and sensitivity analysis [1]. In this paper, we conduct sensitivity analyses for a single and double track vehicle dynamics model to gain insights about the models' behavior under different operating conditions. We compare the models, point out the most important findings regarding the obtained parameters sensitivities, and provide examples of possible applications of the gained insights.
