2211.10369
Vehicular Safety Applications and Approaches: A Technical Survey
Hazem Fahmy, Sabita Mahrajan
incompletemedium confidence
- Category
- Not specified
- Journal tier
- Note/Short/Other
- Processed
- Sep 28, 2025, 12:56 AM
- arXiv Links
- Abstract ↗PDF ↗
Audit review
The uploaded paper is a high-level survey that correctly highlights EKF latency constraints (≈20 ms for ABS/ESP), computational burden, and the popularity of SMO for robustness, but it does not provide formal statements or proofs about Riccati convergence, variance bounds for sideslip, or rigorous SMO guarantees. The candidate model solution formalizes Parts 1–2 soundly, but Part 3 (SMO) relies on an unrealistic full-column-rank measurement assumption and yields a trivial error bound that worsens with the injection gain, so it is not a meaningful robustness result. Hence, the paper is incomplete relative to the posed problem, and the model solution is also incomplete due to flaws in Part 3.
Referee report (LaTeX)
\textbf{Recommendation:} major revisions
\textbf{Journal Tier:} note/short/other
\textbf{Justification:}
The work formalizes well-known KF results and provides a simple complexity threshold consistent with the survey’s qualitative claims, but the observer design in Part 3 is not aligned with typical sensing in vehicles (m < n), and the derived bound is trivial/worsens with the injection gain. To be publishable as a technical note, the SMO section must be redesigned for rank-deficient outputs with noise and a proper discrete-time sliding/ISS analysis.