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This paper presents a novel lane edge feature extraction algorithm based on digital interpolation. Zooming towards the vanishing point of the lanes creates a visual effect of driving. The positions of the lanes should not change significantly on the image plane while the vehicle is moving along the lanes. Considering the position information, more accurate lane features can be extracted. A gradient...
The exciting research concerning the description, analysis, simulation, controller design, and deployment of hybrid systems is reviewed, and perspectives for future developments are discussed. The review attempts to relate precursors to this research, practical motivations, and actual developments. The discussion follows a similar pattern in an attempt to identify topics for future research. Practical...
The paper presents a method for decentralized global formation stabilization of a group of several autonomous vehicles described by the standard kinematics equation with hard constraints on the vehicles' linear and angular velocities.
Active yaw stabilization for passenger vehicles, following driver yaw rate commands with steer-by-wire and rear break force distribution, is discussed. The problem is solved via a decomposition of the vehicle equations of motion into a static, scheduled tyre characteristics map, and an affine Linear Parameter Varying (LPV) plant. Control is provided via a cascade connection of scheduled inverse tyre...
Traffic dependent speed limits have improved the security of highway traffic considerably. However, on highway sections controlled by variable speed limits large oscillations in speed can still be observed. On the basis of traffic data and a macroscopic traffic model, the influence of decentrally controlled speed limits on the states of highway traffic is analyzed. It is shown that local control of...
Given paper presents practically a question statement on the possibility of unpredictable behaviour of the car. In the state space of the linearized model an untypical attractor is revealed which is similar to the Lorenz strange attractor generating an unregular trajectory behaviour. It is shown an opportunity of getting the complete conformity with the Lorenz system for which a strange attractor...
This paper deals with the robust control of an Autonomous Underwater Vehicle (AUV), using the ℋ∞ approach for Linear Parameter Varying (LPV) polytopic systems. This method seems to be adapted to this kind of system because of the important non-linearities and the uncertainties on the hydrodynamics parameters. After the presentation of the nonlinear model of the AUV considered for the study, an LPV...
The objective of the paper is to define a control framework for freeway traffic in which several vehicle classes are explicitly taken into account. The Model Predictive Control approach has been chosen for defining the proposed regulation scheme, in which both ramp metering and speed limitations are adopted as control actions. In the overall control scheme, the two types of control actions (ramp metering...
The continuously increasing daily traffic congestions on motorway networks call for innovative control measures that would drastically improve the current traffic conditions. Mainstream traffic flow control (MTFC) is proposed as a novel motorway traffic management tool. Its possible implementation and principal impact on traffic flow efficiency is analysed. Variable speed limits, suitably operated...
This paper deals with the controller design for the lateral motion of automatic steering of vehicles. The nonlinear models without and with uncertainties are considered. Sliding mode controllers with first order sliding surfaces are proposed for the control of lateral velocity and yaw rate. These controllers are designed directly based on the second order differential equation model which simplifies...
The problem of asymptotic stabilization for selected motions of a tractor-trailer system is addressed using Lyapunov techniques. Smooth, bounded, nonlinear control laws achieving local exponential stability along the desired path are designed and explicit bounds on the region of attraction are provided. The problem of asymptotic controllability with bounded control is also addressed.
In this article, using the kinematics model of a car-like vehicle with front-wheel driving we address the path-following problem on the Cartesian plane. Adopting a dynamic inversion approach we determine initial conditions and the steering input in such a way that a front point of the vehicle exactly follows a pre-specified Cartesian path. Motivation for this special motion planning problem arises...
Using the results of the linear sub-state estimation and of the linear matrix inequality (LMI), we develop a Luenberger low — order unknown input observer/controller, which gives full unbiased state estimation and H∞ disturbance attenuation. This method is designed in a nonstandard case: an output-disturbance free system, it's based on the bounded real lemma, and the resultant design algorithms are...
Hybrid Electrical Vehicles (HEV) are a very promising approach to save fuel and minimize exhaust emissions. The drivetrains of HEV are equipped with at least one Electric Machine (EM) in addition to the Internal Combustion Engine (ICE). Therefore it is possible to operate the Internal Combustion Engine (ICE) in more efficient working points or to shut it down if the efficiency is too low. Despite...
We develop a day-to-day route choice control method that is based on model predictive control (MPC). To influence the route choice of drivers we propose to use traffic control measures like variable speed limits or outflow control. In previous papers we have developed MPC for route choice control in the case of a constant demand. In this paper we consider the case of a time-varying demand. The resulting...
A computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bézier curves for obstacle avoidance. Then the algorithm solves the problem of motion planning for the robot to track the path in a short travel time while satisfying dynamic constraints and robustness to noise. The numerical simulation demonstrates...
The present work presents an integrated hybrid predictive control strategy to optimize the real time operations of a public transport system, where the control actions applied dynamically to buses are combined with signal priority strategies. A traffic simulator is integrated into a simulation platform of a public transport system. Each of the strategies proposed is tested and validated separately...
This paper is devoted to the trajectory tracking and set-point feedback control problems formulated for an articulated tractor-trailer vehicle with off-axle hitching. The Vector Field(s) Orientation (VFO) control method presented in the paper allows treating the two tasks in a unified manner. Proposed concept leads to smooth and non-oscillatory vehicle motion quality together with intuitive geometrical...
We consider a pool of mobile vehicles with unicycle-like kinematics. During the motion and on the basis of the state variables a function defines if there is the need of coordinating the motion of a set of vehicles. When a group of mobile robots establish the need of coordination, they form a “team”. The birth of a team is an event. A sequence of intermediate targets is then assigned to each vehicle,...
This paper presents a two independent wheel drives electric vehicle (EV), with a traction and a stability control systems. In the first part of the paper a detailed dynamic model of the EV is presented and also some simulation results. Using electric motors it is possible to have a precise torque control in each wheel drive, that enables the implementation of a sophisticated control system. In order...
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