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In the development of advanced driver-assist systems (ADAS) for lane-keeping or cornering, one important design objective is to appropriately share the steering control with the driver. The steering behavior of the driver must therefore be well characterized for the design of a high-performance ADAS controller. This paper adopts the well-known two-point visual driver model to characterize the steering...
In the development of advanced driver-assist systems (ADAS) for lane-keeping, one important design objective is to appropriately share the steering control with the driver. Hence, the steering behavior of the driver must be well known beforehand. This paper adopts the well-known two-point visual driver model to characterize the steering behavior of the driver, and conducts a series of field tests...
This paper describes a model-based pothole detection algorithm that exploits a multi-phase dynamic model. The responses of hitting potholes are empirically broken down into three phases governed by three simpler dynamic system sub-models. Each sub-model is based on a rigid-ring tire and quarter-car suspension model. The model is validated by comparing simulation results over various scenarios with...
This paper considers the problem of vehicle suspension control from the perspective of a Vehicle-to-Cloud-to-Vehicle (V2C2V) distributed implementation. A simplified variant of the problem is examined based on the linear quarter-car model of semi-active suspension dynamics. Road disturbance is modeled as a combination of a known road profile, an unmeasured stochastic road profile and potholes. Suspension...
This work analyzes the mitigation of unavoidable T-bone collisions between two automobiles through the execution of an aggressive maneuver involving a rapid yaw rotation of one of the vehicles, in order to achieve a favorable vehicle posture prior to the collision. The maneuvering vehicle is assumed to possess torque vectoring technology at the rear wheels, allowing the generation of a direct yawing...
This paper addresses the brake control design for Heavy-Duty Trucks (HDTs) in automated vehicle short distance following operation. The braking system for an HDT is composed of three subsystems: Jake (engine) brake, transmission retarder and pneumatic (air) brake. Judicious combination of these three subsystems for achieving a desired braking torque is critical for both safety and performance. Based...
Road traffic statistics have shown that multi-event crashes typically result in a higher death toll than single-event crashes. One type of those multi-event crashes could be a crash where the initial harmful event leads to a loss of directional control of the vehicle. In this work, we study countermeasures during such crashes, namely, vehicle stabilization in response to exogenous impulsive disturbances...
This paper presents a novel approach to developing a driver advisory system that can warn the drivers of driving conditions close to the limit of vehicle handling. This advisory system utilizes intelligence inferred from vehicle states, measured signals, and the other computed variables used for active safety and vehicle control purposes. The onboard computing resources, algorithms, and sensors used...
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