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In this paper a Model Predictive Control (MPC) strategy is utilized to model a professional driver negotiating a set driving circuit in minimum time. MPC is inherently suboptimal because not all future information is incorporated into each horizon of the control scheme. Motivated by how professional drivers learn race circuits in order to best exploit its features, we will alleviate some of the suboptimality...
In this paper, we presents a comparative study of dynamic and kinematic vehicle models based on interacting multiple model(IMM) filter. It is known that the characteristics of kinematic and dynamic lateral motion models vary according to driving conditions. From the IMM filter, we can obtain the stochastically best blended state of the vehicle. Not only the performance of IMM filter but also the reliability...
This paper describes a model-based pothole detection algorithm that exploits a multi-phase dynamic model. The responses of hitting potholes are empirically broken down into three phases governed by three simpler dynamic system sub-models. Each sub-model is based on a rigid-ring tire and quarter-car suspension model. The model is validated by comparing simulation results over various scenarios with...
In recent years, cars have been equipped with many devices for the improvement of the handling, safety and comfort. In this paper we propose a framework for the integration of different devices which can be used to better control the vehicle lateral dynamic. A quick overview on previous work on the topic is also given.
Semi-active and active suspension technologies have shown that vehicles road holding can be enhanced, but any such improvement implies decreasing the overall comfort. In this paper, we introduce the use of active aerodynamic surfaces to improve vehicle road-holding without affecting comfort. An ℌ∞ closed-loop controller is developed to minimize the tire deflection variations, which are responsible...
This paper studies the path tracking problem for autonomous vehicles in the presence of uncertainties in both tire-road condition and aerodynamic drag. A hierarchical control architecture is adopted, which includes active front wheel steering in combination with low level control of the longitudinal wheel slip. To cope with the unknown and non-uniform road condition parameters appearing in the actuator...
This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously,...
By the body-fixed coordinate, Coriolis' theorem and Cardan angles, a kinetic model of a high-temperature ladle carrier vehicle, which has 30 degree-of -freedoms, is built. The model could be used to predict the rollover of the vehicle. The inputs of the model are steer angle and rotational velocity of every tire, and the outputs are the motions of the vehicle's body and the forces on the body and...
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