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Trajectory control for an autonomous ground vehicle typically utilizes the error from the desired path or trajectory (i.e., crosstrack error) to produce velocity and steering commands. If an obstacle is in the path, previous techniques have synthesized a new trajectory that avoids the obstacles, and the vehicle directly follows this new path. This approach has drawbacks at high velocity, because the...
In this paper, a novel steering system is presented, which has a fast response and then improves the driving performance. When a vehicle turns, we control the speed ratio between two driving in-wheel motors to achieve the fast tracking ability and provide more safety. The modified reference speed ratio is proposed to reflect loss of traction and get to the normal state as soon as possible.
The great promise of vehicle to vehicle communications includes a reduction or even elimination of collisions and fatalities on roadways, especially of those due to driver error. A major roadblock to the effectiveness of these systems is the market penetration of cooperative Driver Assistance Systems. Many proposed and existing implementations of cooperative systems are only effective if a majority...
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