How can I add acceleration variable to my driving scenario matlab code?

I am writing matlab code of automatic braking system with the help of available driving scenario object functions, to the 'actors' in the driving scenario can we add acceleration along with velocity and position in the code? as I want the ego vehicle to decelerate when it meets the braking distance. please help.

[darova]

Attach the code

Answer 1

[Omik Save]

Since you have position and velocity data, you have two options:

1. Do diff(v)/dt where diff take cumulative difference of velocity and dt is the time interval.
2. Or if there is no true observation of acceleration in your model, use a Kalman filter (https://www.mathworks.com/help/control/ref/kalman.html) with the following parameters:

A = [1 T T^2/2;0 1 T;0 0 1]; %States (Position, velocity, acceleration)

G = [T^3/6;T^2/2;T];

C = [1 1 0]; %Output

there is no u (input) hence B is considered 0. Use initial states as

Once you have this, tune Q,R,N and H based on your results of acceleration. One good way to tune is by matching the ouput of Kalman filter with the acceleration mentioned in method 1.