Page - 62 - in Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives

5. Selection of the Object to Follow 50 54 58kt 50 54 58kt [s]t 1 0.5 0.5− 0 1− 0.5 0.5− 0 1− ktmeas. until ktmeas. after predicted Figure 5.3.: Steering wheel angle δSW and steering wheel velocity δ˙SW measurements and predicted values in the global coordinate system at time tk+ i∆t, the vector 0zk is the position and orientation the the beginning of the prediction at time tk, and the vector vkzˆi|k is the predictedpath in thevehicle coordinate systemat timestepk for the i-thpredicted time step. To evaluate the algorithms, the error vector between measurement and predicted trajec- tory is defined as ei|k= [ 0xi|k 0yi|k ] − [ 0xˆi|k 0yˆi|k ] , (5.21) with its norm reading ei|k= √ eTi|kei|k. (5.22) For a more compact notation, all the i norms of the error vectors of the prediction performed at time tk are combined to form the error vector ek=      e1|k e2|k ... enk|k      , (5.23) 62