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This paper presents a new methodology for the detection of critical situations for vehicle lateral dynamics, in order to improve the ESP systems. The principle of the approach rests on the modeling of the vehicle thanks to a bicycle model. The lateral tire forces are well known to be highly non-linear. However, in normal driving region, those force can be approximated as linear. The detection of the...
This paper focuses on the application of active suspensions to vehicles with solid-axles for medium and light duty trucks. These vehicles are prone to rollover issues and compromised ride quality. A cascade control structure is proposed considering a time scale analysis of the various modes in the vehicles' dynamics. The structure consists of: a) an upper level predictive anti-roll controller that...
This paper investigates the multi-objective optimization of ride comfort, suspension deflection and tyre grip performance measures for a conventional suspension structure by deriving the analytical solutions for a quarter-car model. The optimization results are compared with two other configurations, one having the same complexity in construction but employing an inerter while the other being the...
This paper presents a hierarchical control framework for the obstacle avoidance of autonomous and semi-autonomous ground vehicles. The high-level planner is based on motion primitives created from a four-wheel nonlinear dynamic model. Parameterized clothoids and drifting maneuvers are used to improve vehicle agility. The low-level tracks the planned trajectory with a nonlinear Model Predictive Controller...
In this paper, a linear time-varying model-based predictive controller (LTV-MPC) for lateral vehicle guidance by front steering is proposed. Due to the fact that this controller is designed in the scope of a Collision Avoidance System, it has to fulfill the requirement of an appropiate control performance at the limits of vehicle dynamics. To achieve this objective, the introduced approach employs...
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