Steering Angle Estimation for Preceding Vehicles Considering Host-target Vehicle Dynamics
Steering angle is an essential parameter tightly linked to the lateral motion of the target vehicle that could be used to characterize the vehicle behaviors such as lane changing.This paper presents a new method for estimating the target vehicle steering angle using the information obtained from sensors such as the camera,light detection and ranging(LiDAR)and radar.A complete lateral motion model based on vehicle dynamics and road constraints is constructed and can be applied to interpret the target vehicle lateral motion.Kalman filter is adopted to estimate the steering angle of the target vehicle and simulations are carried out both in straight and curve roads.The results show that this model established in this article can be used to realize accurate estimate of the target vehicle steering angle.The proposed model can be applied for better recognition of target vehicle behaviors.
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