Page - 45 - in Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives

4 Measurements 4.1. Measurement Setup All the quantities are measured in the coordinate systems of fig. 4.1. There, the origin of the vehicle coordinate system is located at the Center of Gravity (CG) of the ego vehicle with its axes (vx,vy,vz), in accordance with the Deutsches Institut fu¨r Normung (DIN) standard 70000, [Deu94]. The environmental-recognition sensor coordinate sys- tem (sx,sy,sz) with the origin S is shifted to the front bumper of the vehicle. The transformation from the sensor to the vehicle coordinate system reads  vxvy vz   =   SvsxS vsy S vsz   ︸ ︷︷ ︸ S vs +   sxsy sz   , (4.1) where thevectorSvsgives thepositionof the sensor in thevehicle coordinate system. The global coordinate system (0x,0y,0z) is placed on the road surface. Each of the wheels has itsowncoordinate system(cx,cy,cz)with itsoriginCatthecentreof thewheel. The cy-axis is the rotation axis of the wheel, and the cx-axis is parallel to the (0x,0y)-plane. Figure 4.1 shows the coordinate system for the front left (fl) wheel. Figure 2.15(b) depicts the wheel coordinate systems in detail. For themeasurements, avehiclecalledtheego vehicle is equippedwithanenvironmental- recognition sensor, a camera and a measurement system. The same equipment is placed in another vehicle, called the target vehicle. These two vehicle measurement systems are