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We consider a tracking problem for a car moving at a constant speed on a piecewise-circular road with known radius-of-curvature. Retrospective-cost-based adaptive control is applied under various off-nominal conditions, including unknown bank and inclination angles. A preview estimate of the time-to-departure, based on radius-of-curvature information, is used to define a performance variable.
This paper analyzes a promising method of road grade estimation for its potential use in aiding ground vehicle electronic stability control systems. The method in question incorporates GPS and motion sensors into a basic Kalman Filter model to achieve clean, high update estimates of the vertical and longitudinal velocity states from which the grade can be easily calculated. The knowledge of road grade...
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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