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Model-based evaluation of practical sensor noise impacts in articulated vehicle driving scenarios

Articulated vehicles are under-actuated and therefore hard to control. Driver assistance systems are used to enable safer handling of these kinds of vehicles and rely on noisy sensor data. The impact of sensor noise on the quality of vehicle control of course is dependent of the control application. We present a driver model for the evaluation of sensor noise impact in relevant standard driving scenarios. Our model is based on a heuristical approach appropriate for complex articulated vehicles. The noise impact of articulated vehicle state estimation sensors in a rear driving scenario is evaluated in a show case scenario.