Sensor noise model development of a longitudinal positioning system for AVCS

The paper describes the advanced vehicle control systems (AVCS) envisioned by the California Partners for Advanced Transit and Highways (PATH) program. System simulation is crucial to ensure that every portion of the whole system designed will perform adequately together. For automated highway systems, simulation is essential for the controller design. To create a more realistic simulation environment, we need to model sensor output instead of assuming that we can measure the vehicle states exactly, that is the primary reason for the development of sensor models. Three positioning sensors are investigated in this project. Their models are developed based on real test data. In addition, the sensor models are evaluated by comparing their autocorrelation function estimates and histograms with those of real test data.