The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper represents a non-cooperative trajectory-planning algorithm for vehicles with consideration of drivers' characteristics. The driver-vehicle model considering driver's different characteristics is applied to formulate a vehicle to vehicle (V2V) encountering system. The non-cooperative control algorithm is employed to plan collision-free trajectories for these encountering vehicles with initial...
A driver assistance control algorithm for a vehicle with an active front steering system is proposed in this paper. The control algorithm is designed so as to optimize the turning performance and realize the collision avoidance simultaneously under the constraints on the front wheel turn angle and the lateral tire force. The control algorithm is developed based on a model predictive control law for...
Path tracking control for autonomous vehicle using model predictive control (MPC) algorithm maintains maneuverability by calculating a sequence of control input which minimizes a tracking error. The weakness of this method is that the performance of MPC may decrease significantly when the priori prediction model is not accurate. Therefore, it is important to keep the vehicle stable when MPC having...
A novel heading predictive control model for autonomous ground vehicles is proposed in the present paper. The developed approach includes a nonlinear vehicle dynamic model which takes the actual tire side — slip characteristics into account and a new predictive function obtained from the stationary solution of the 2DOF vehicle dynamic model. The effectiveness of the new heading predictive control...
In this paper, a simplified dynamic vehicle model is established to accurately describe the dynamics of Unmanned Ground Vehicle (UGV) in trajectory tracking, while meeting the real-time computing requirement. And a modified model predictive control (MPC) algorithm with soft constraint for UGV trajectory tracking is proposed to improve the tracking stability and rapidity. The optimal control problem...
This paper introduces an autonomous backward driving control method using space information from stereo vision system. For forward driving, numerous autonomous driving control methods are already developed and they work better than inexperienced drivers. However, autonomous backward driving control works in very limited cases, such as for autonomous parking within short distances. In case of backward...
This study contribute to enhance the maneuverability safety for coordination of active rear steering and direct yaw moment control for un-tripped rollover prevention that make a panic lane change maneuver to avoid an obstacle in the path. At the same time of avoiding rollover accidents, prohibiting the vehicle from the driver's intended and the vehicle's actual lane, and the effect of crosswind is...
A model predictive control (MPC) approach for the integrated control of active front steering (AFS), direct yaw moment control (DYC) and motor torque allocation in four in-wheel driving electric vehicles (EVs) is presented. A nonlinear vehicle model is formulated with nonlinear tire characteristic for MPC method, which can predict future system dynamics in predict horizon. And a cost function of the...
For further enhancing vehicle handling stability and improving the ESP's deficiency of causing undesired longitudinal decelerations, an integrated control of the active steering and direct yaw moment (DYC) is proposed. A new formulation of the bicycle model which adds the additional front wheel angle and yaw moment is introduced. And the model predictive control method is used to design the integrated...
This paper describes the design of unified active safety framework that combines trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles into a single constrained-optimal-control-based system. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. The vehicle navigation problem is formulated as a...
Yaw stability of an automotive vehicle in steering maneuver is critical to stability and handling performance of the vehicle. In the paper, a yaw stability controller based on model predictive control is designed in the principle of active differential brake. Implementing a simple 6 DoF linear vehicle model, the proposed controller solves brake torque constraints and overactuated problems in vehicle...
A model predictive control (MPC) -based approach is presented for autonomous path following via active front steering (AFS). We start from the nonlinear MPC (NMPC) problem formulations in [2] and [4], where a simple bicycle model is used, and reformulate the same problem by using a more complex vehicle model including roll dynamics. We present and discuss simulation results of a vehicle autonomously...
Path tracking control on non-flat terrain is an important capability of mobile robots operating in outdoor environments. A path tracking controller based on the model predictive control (MPC) framework is presented that explicitly considers terrain geometry and actuator limitations. The controller performance is studied with three vehicle dynamic models in a high-fidelity ADAMS simulation. The effect...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.