Estimation of parameters and delay in driver models using L1-regularization

A new method is proposed for driver reaction time (delay) and parameter estimation using a generic lateral model that is expressed in terms of the steering angle, yaw rate and lateral lane offset. The idea behind the presented method is to reformulate the original driver model with an overparametrized one and then use the L-1-regularization method to enforce sparsity and thereby estimate the delay together with the parameters of the original model. A sequential algorithm is then presented to obtain better estimates of the parameters with a model in which the delay is fixed.