相关论文: Rack Force Estimation for Driving on Uneven Road S…

The following report contains information about a proposed technology by the authors, which consists of a device that sits inside of a vehicle and constantly monitors the car information. It can determine speed, g-force, and location…

Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…

Driver distraction is a well-known cause for traffic collisions worldwide. Studies have indicated that shared steering control, which actively provides haptic guidance torque on the steering wheel, effectively improves the performance of…

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,…

We present a one dimensional model for the development of corrugations in roads subjected to compressive forces from a flux of cars. The cars are modeled as damped harmonic oscillators translating with constant horizontal velocity across…

The lateral position of vehicles within their lane is a decisive factor for the range of vision of vehicle sensors. This, in turn, is crucial for a vehicle's ability to perceive its environment and gain a high situational awareness by…

There is a growing interest in new sensing technologies and processing algorithms to increase the level of driving automation towards self-driving vehicles. The challenge for autonomy is especially difficult for the negotiation of uncharted…

This paper deals with traffic control at motorway bottlenecks assuming the existence of an unknown, time-varying, Fundamental Diagram (FD). The FD may change over time due to different traffic compositions, e.g., light and heavy vehicles,…

In this paper, numerical estimation of frictional torques is carried out of a rotary elastic disc on a hard and rough surface under different rotating conditions. A one dimensional spring- mass rotary system is numerically solved under the…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

A fair simple car driving simulator was created based on the open source engine TORCS and used in car-following experiments aimed at studying the basic features of human behavior in car driving. Four subjects with different skill in driving…

Using the methods originally developed for Random Matrix Theory we derive an exact mathematical formula for number variance (introduced in [4]) describing a rigidity of particle ensembles with power-law repulsion. The resulting relation is…

Granular surfaces tend to develop lateral ripples under the action of surface forces exerted by rolling wheels, an effect known as washboard or corrugated road. We report the results of both laboratory experiments and soft-particle direct…

Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…

Skew bridges are common in highways and railway lines when non perpendicular crossings are encountered. The structural effect of skewness is an additional torsion on the bridge deck which may have a considerable effect, making its analysis…

This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…

Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…

Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…

Mitigating traffic congestion on urban roads, with paramount importance in urban development and reduction of energy consumption and air pollution, depends on our ability to foresee road usage and traffic conditions pertaining to the…