The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, a dynamic model and adaptive motion controller of a two-wheeled self-balancing vehicle is presented. First, we derive a dynamic model of the vehicle with respect to the wheel motor torques as inputs using the Boltzmann-Hamel method in quasi-coordinates for nonholonomic systems. Using estimation-based approach, an adaptive controller is designed to achieve upright balancing and steering...
In recent years, the demand for safer vehicles has increased. According to traffic accident reports prepared by the Metropolitan Police Department in Japan, almost all traffic accidents are caused by human errors such as driver negligence or operational mistakes. Therefore, future technologies need to precisely detect driver's mistakes and adopt active control in order to increase vehicle safety....
The recognition and prediction of situations is an indispensable skill of future driver assistance systems. This study focuses on the recognition of situations involving two vehicles at intersections. For each vehicle, a set of possible future motion trajectories is estimated and rated based on a motion database for a time interval of 2-4 seconds ahead. Realistic situations are generated by a pairwise...
This paper presents a model-based algorithm that estimates how the driver of a vehicle can either steer, brake, or accelerate to avoid colliding with an arbitrary object. In this algorithm, the motion of the vehicle is described by a linear bicycle model, and the perimeter of the vehicle is represented by a rectangle. The estimated perimeter of the object is described by a polygon that is allowed...
Vehicular movements are bounded to some rules and regulations based on the environment and road networks. Visual signals are the most common way of transferring perception of motion to immediate vehicles but these indications do not portray correct perception of the motion. Visual indications are reserved for forward vehicle intensions but such indications can not provide surety of avoiding collisions...
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...
To comprehensively deal with tracking capability and fuel economy issue of ACC-activated vehicle, this paper presents a MPC based vehicular following control algorithm. After compensating the nonlinearity of vehicle longitudinal dynamics by inverse model, the car-following system is built as 3-state space linear model. On its basis, a standard MPC optimization cost is constructed mainly considering...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.