01437nas a2200181   4500008004100000245007400041210006900115260004700184520082200231100002301053700001901076700002301095700002601118700002301144700001901167700002001186856004901206       2008                        eng d00aRecovering Models of a Four-Wheel Vehicle Using Vehicular System Data0 aRecovering Models of a FourWheel Vehicle Using Vehicular System   bUniversity of California, BerkeleycAugust3 a<p>This paper discusses efforts to parameterize the actuation models of a four-wheel automobile for the purposes of closed-loop control. As a novelty, the authors used the equipment already available or in use by the vehicle, rather than expensive equipment used solely for the purpose of system identification. After rudimentary measurements were taken of wheelbase, axle width, etc., the vehicle was driven and data were captured using a controller area network (CAN) interface. Based on this captured data, we were able to estimate the feasibility of certain closed-loop controllers, and the models they assumed (i.e., linear, or nonlinear) for control. Examples were acceleration and steering. This work served to inform the separation of differences in simulation and vehicle behavior during vehicle testing.</p>1 aSprinkle, Jonathan1 aEklund, Mikael1 aGonzalez, Humberto1 aGrøtli, Esten, Ingar1 aSanketi, Pannag, R1 aMoser, Michael1 aSastry, Shankar  uhttp://chess.eecs.berkeley.edu/pubs/405.html