相关论文: Rack Force Estimation for Driving on Uneven Road S…
Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…
The interlock drive system generates traction by penetrating narrow articulated spikes into the ground and by using the strength of the deeper soil layers to resist horizontal draft forces. The system promises good tractive performance in…
This paper provides a comprehensive comparison of model-based and data-driven approaches and analyses the benefits of using measured tyre forces for vehicle sideslip angle estimation. The model-based approaches are based on an extended…
Accurate simulation and validation of advanced driver assistance systems requires accurate sensor models. Modeling automotive radar is complicated by effects such as multipath reflections, interference, reflective surfaces, discrete cells,…
This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring to stabilise and drive the vehicle in evasive manoeuvres at…
This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller (SNMPC) that learns a tire--road friction model online using…
Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and individual braking.…
Recognition of road surface conditions should always be at the forefront of intelligent transportation systems for the enhancement of transportation safety and efficiency. When road surfaces are covered by ice or snow, accident rate would…
Vehicle manufacturers are racing to create autonomous navigation and steering control algorithms for their vehicles. These software are made to handle various real-life scenarios such as obstacle avoidance and lane maneuvering. There is…
Rubber friction is of major practical importance in applications such as tires, rubber seals, and footwear. This review article focuses on the theory and experimental studies of rubber friction on substrates with random roughness. We…
The frequency response function (FRF) is an established way to describe the outcome of experiments in posture control literature. The FRF is an empirical transfer function between an input stimulus and the induced body segment sway profile,…
In this paper, a new model for traffic on roads with multiple lanes is developed, where the vehicles do not adhere to a lane discipline. Assuming identical vehicles, the dynamics is split along two independent directions: the Y-axis…
In this paper we consider a kinetic description of follow-the-leader traffic models, which we use to study the effect of vehicle-wise driver-assist control strategies at various scales, from that of the local traffic up to that of the…
Autonomous vehicles (AV) look set to become common on our roads within the next few years. However, to achieve the final breakthrough, not only functional progress is required, but also satisfactory safety assurance must be provided. Among…
A mathematical model for wire rolling is developed, focusing on predicting the lateral spread. This provides, for the first time, an analytic model of lateral spread without any fitting parameters. The model is derived directly from the…
The four-wheel independent drive and four-wheel independent steering (4WID-4WIS) configurations enhance control flexibility and dynamic performance potential for more integrated electric vehicles. This paper comprehensively analyzes the…
In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
Predicting crack trajectories in brittle solids remains an open challenge in fracture mechanics due to the non-local nature of crack propagation and the way cracks modify their surrounding medium. Here, we develop a framework for…
Driving information and data under potential vehicle crashes create opportunities for extensive real-world observations of driver behaviors and relevant factors that significantly influence the driving safety in emergency scenarios.…