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This paper presents a 9-degree of freedom (DOF) vehicle model combined with a closed loop driver model for the purpose of developing vehicle lateral control. The driver model was developed to control the steering angle and uses the lookup table path as a reference for the control input. The proposed outer-loop controller structure for the driver model is a combination of proportional gain control...
This paper evaluates predictive control and necessary time horizon for heavy vehicle's active safety functionality by using an inverse model as predictor. The predictive driver interpreter provides the anticipating signals for limiting the forward velocity which can guarantee a manoeuvre's safe realization without loss of control. It has been integrated in a control allocation structure. The controller...
Recently electric vehicles are taken up as successor to conventional gasoline engine vehicles and many researchers have focused on motion control of electric vehicle. This paper describes a strategy to assist the vehicle driver using an accelerator pedal and a steering wheel is considered. In particular, the accelerator pedal is called haptic pedal and the combination control of steer-by-wire and...
In many severe maneuvers, the driver-controller interaction seems necessary for maintaining a stable vehicle. This paper introduces a novel cooperative direct yaw control (DYC) design for optimal vehicle stability control in the presence of human driver. The interaction is defined by forming a differential linear quadratic game between the driver who is controlling the steering angle and the controller...
This paper presents a roll state estimator and a rollover prediction model based on a real-time roll estimator. The real-time roll estimator is designed to estimate the current roll angle and roll rate of the vehicle body from a 3DOF vehicle model. The veDYNA dynamic simulation software was used to verify the performance of roll motion prediction. The prediction model calculates the time it takes...
Modern cars are equipped with an increasing number of active systems in order to help the driver, e.g. to better deal with unexpected changes in the vehicle dynamics. To improve the global vehicle dynamics, comfort and handling, coordination between traditionally stand-alone active systems is required. This demands for a global chassis controller. Thanks to the use of tyre force sensors, the controller...
According to traffic accident data, the majority of severe road accidents occur at night. It is, therefore, of great importance to use available technology to contribute to road safety by improving the visual conditions provided by vehicle headlights. This paper presents the hardware in the loop simulation of an adaptive headlight system for motor vehicles. The adaptive headlight system is an active...
This paper presents a control algorithm for controlling the brakes of a tow-vehicle/trailer combination during emergency braking. The control algorithm determines wheel slip levels for the wheels of the tow-vehicle and trailer. These wheel slip levels are chosen to provide the maximum braking force while preserving the stability of the tow-vehicle and trailer and providing the necessary directional...
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