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An experiment platform which aims to study the integration control of steering and braking is designed due to the research requirement of vehicle active safety control strategy. A test vehicle which is equipped with the systems of steer-by-wire and brake-by-wire is provided and the Autobox, combined with Matlab/simulink and MSCCarsim,is used to fulfill the RCP(Rapid Control Prototyping) and HIL(Hardware-in-loop)...
In this paper, we address a driver behavior reconstruction problem which is important to enhance traffic safety. More specifically, the task in this study is to estimate the longitude tire force which can be transferred to the corresponding throttle/brake positions under the assumption that the steering angles are known. Although the sensors mounted on the throttle/brake pedals can directly measure...
This paper introduces a model-based approach to estimating longitudinal wheel slip and detecting immobilized conditions of autonomous mobile robots operating on outdoor terrain. A novel tire traction/braking model is presented and used to calculate vehicle dynamic forces in an extended Kalman filter framework. Estimates of external forces and robot velocity are derived using measurements from wheel...
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