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This paper proposes novel high accuracy road condition estimation called Tire Grip Margin (TGM), and TGM is estimated by using dual pitman arm type steer-by-wire and lateral force sensor and estimator. In addition, we propose cornering stability control technique based on the TGM. It can help driver and vehicle before unstable state. We verify our proposed system achieves robust vehicle dynamics control...
Vehicle classification is very important in traffic flow analysis for traffic monitoring systems. Accurate estimation of wheel baseline length can provide a useful cue for vehicle classification. In this paper, we propose a new method for detecting accurate wheel center points and estimating the wheel baseline length of a vehicle taking the distortion in the circular fisheye images into consideration...
For a fully automation ground vehicle, the accurate longitudinal speed becomes more and more important due to the increasing demands on tracking of position, velocity and acceleration. Based on low-cost wheel speed encoders, this paper proposes a novel longitudinal speed estimator for vehicles on cornering maneuver. In the estimator, a gain-varying Kalman estimator is designed to output lateral states...
In this paper, we propose a new method for detecting tire-road contact points and estimating the position of a vehicle on a road taking the distortion in a circular fisheye image into consideration. In our proposed method, we use the distortional parameter of two concentric circles composed of the inner wheel and the outer tire by considering projection system of fisheye lens, and the searching the...
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...
Yaw stability of an automotive vehicle in steering maneuver is critical to stability and handling performance of the vehicle. In the paper, a yaw stability controller based on model predictive control is designed in the principle of active differential brake. Implementing a simple 6 DoF linear vehicle model, the proposed controller solves brake torque constraints and overactuated problems in vehicle...
This paper describes a unified chassis control (UCC) strategy to prevent vehicle rollover and improve vehicle lateral stability. A rollover index (RI), which indicates impending rollover, and a model-based roll state estimator are introduced to detect potential rollover. An RI/lateral stability-based rollover mitigation (ROM) controller is designed to reduce the danger of rollover without loss of...
High quality estimation of road/tire friction coefficient has important role in vehicle control system like anti-lock braking system (ABS), traction control system etc. For this purpose the paper researches on the road/tire friction coefficient estimation algorithm based on the extended Kalman filter theory. At the same time, a simulation verification of the road/tire coefficient estimation has been...
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