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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...
In this paper, a motion planning algorithm based on differential flatness for an autonomous vehicle driving in a structured environment with moving obstacles is presented. A descriptions of the structured environment and definitions of safety and availability of the lane are proposed. In order to ensure that the trajectory is feasible and effective, dynamic longitudinal and lateral acceleration constraints...
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