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The moving-block system under ERTMS Level 3 represents a continuous detection of train positions, and continuous infrastructure-to-train communication. This allows trains to follow one another in smaller space and time headways than possible in fixed-block systems. Trains form platoons with undisturbed headways and uniform speeds in moving-block systems, with improved safety and increased capacity...
Aggressive vehicle maneuvers such as those performed by professional racing car drivers achieve high agility motion while motion stability is compromised. These aggressive maneuvers can be used to design human-inspired active safety features for “accident-free” vehicles. We present a novel control systems design for autonomous aggressive robotic maneuvers. Rather than restricting the vehicle motion...
Lateral stability of an automotive vehicle in a cornering situation is critical to vehicle stability and handling performance and it is effective on reducing single-vehicle accidents. In order to obtain the lateral stability, a nonlinear model predictive control (NMPC) method considering rear steering angle as control variable is presented. It adopts tire sideslip angle to express vehicle lateral...
This paper describes a state feed-back tracking controller with parameter uncertainties for vehicle dynamics with a four-wheel active steering system as well as an active suspension system. The objectives of the proposed controller are to improve the vehicle behavior by forcing the lateral dynamics and the load transfer ratio to track the desired vehicle behavior in critical situations. The Takagi-Sugeno...
Platoon driving is critical to improve safety, efficiency, and fuel economy. This paper presents a control method for heterogeneous vehicular platoons with uncertain dynamics and uniform communication delay. The requirements of string stability, robustness and tracking performance are measured by H-infinity norm and satisfied by casting into a linear fractional transformation (LFT) format. A delay-dependent...
The dynamic stability of a vehicle is of profound significance which has led three wheel vehicles to be used for only low speed application. Static Stability Factor (SSF) is a commonly used safety rating for vehicles. In this paper, stability of a three-wheeled vehicle with two wheels on the front (2F1R), a three-wheeled vehicle with two wheels on the rear (1F2R) and a standard four-wheeled vehicle...
Optimizing inter-vehicle distances is very important to reduce traffic congestion on highways. A modification of the constant time headway policy (CTH) has been proposed in [1]. This modification significantly reduces inter-vehicle distances, but this reduction in the inter-distance may increase the risks of collisions. In this paper, the safety of the modified CTH applied to a homogeneous platoon...
Cloud computing usage is growing, and soon the vast majority of organisations will rely on some form of cloud computing services. Cloud computing is being adopted in critical sectors such as energy, transport and finance. This makes cloud computing services critical in themselves. When cyber-attacks and cyber disruptions happen, millions of users are affected. Infrastructure vendors will inevitably...
To suppress vehicle rollover and sideslip risk effectively, this paper adopts time AR model to forecast vehicle motion parameters. Based on the forecast parameters, control strategies are established to control the vehicle rollover through the process of control-by-wire steering controller and suppress the vehicle sideslip by means of inhibiting the increase of centroid cornering angle. The way of...
This paper proposes a Safety Spacing Policy (SSP) that can ensure safe operation while at the same time improving traffic flow for Adaptive Cruise Control (ACC) system. The proposed SSP, a nonlinear function of vehicle velocity, uses both the information of vehicle's state and braking capacity to adjust the position and velocity of the controlled vehicle. String stability, traffic flow stability and...
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