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This paper considers the design of a controller and a constraint-enforcement scheme for application to dualmode, autonomous and manual steering systems. A tracking controller is designed to track a desired pinion angle during autonomous operation, and to provide assistive torque during manual operation. The tracking controller is designed using H∞ synthesis with tracking made possible via the solution...
This paper proposes a path generation method using model predictive control for merging of automobiles on a motor way. The path generation problem is formulated as a mixed integer programming (MIP) problem. The method is implemented based on receding horizon philosophy. The MIP is solved at each step then a first element of the optimal input is applied to system. The point of the proposed method is...
With the development of technology, The power density of permanent magnet synchronous motor application in aerospace is increasing rapidly. The integration of the machine with the power electronic converter and control system has many advantages such as high power density, high reliability and small size, etc. However the cooling design of it is challenging [1]. In this paper, the optimal design of...
The present paper is dedicated to the Advanced Driving Assistance Systems (ADAS). The first goal is to offer an outlook of ADAS which represents a widespread feature of the modern vehicles. After this general perspective, the attention is focused on one of the lateral dynamics control systems, the Lane Centering Assistance system. A Linear Parameter-Varying (LPV) model comprising the most relevant...
In normal vehicle operation, drivers occasionally encounter low friction patches without advance warning. The sudden transitions to and from the low friction surface may destabilize the vehicle, even when the operating point on the higher friction surface is away from the handling limits. Because of these fast dynamics, an active assistance system could significantly enhance safety. This paper describes...
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...
This paper suggests the approach to the developing on-board driver's aid systems (DAS) with the function of the dynamic assessment of the traffic safety. The key feature of the approach is the combination of the intellectual multi-agent simulation method and the virtual reconstruction of the road scene based on the data from various on-board informational subsystems (mainly from the technical vision...
In recent years, stricter regulation of vehicle emissions, increasing fuel prices and government grants have lead to a rapidly growing interest in electrical mobility. However, potential customers are discouraged by the limited range of electric vehicles involving reduced flexibility. This paper presents a modern, real-time capable approach using road data obtained from an advanced navigation system...
An important goal in engineering design is to ensure that infrastructure systems are utilized efficiently by the public. One example is a transportation network which exhibits congestion effects due to self-interested routing choices by drivers. We study the use of road tolls to positively influence routing choices, focusing on deriving pricing mechanisms which are robust to mischaracterizations of...
In this paper an integrated feed-forward lateral dynamics controller, which considers the actuator dynamics and input delays, is presented. The proposed approach uses an optimization based model inversion of a nonlinear two-track model with magic formula tire model to describe the vehicle dynamics. The model is extended by the actuator models containing delays, which are identified with measurement...
The number of deaths due to the motor vehicle accidents has increased drastically during the last few years. It is estimated that nearly 40–50 % of the accidents are due to the distractions of the driver. One of the methods to assess driver distraction is using head pose estimation. The unavailability of a standard driving database hampers the study and testing of driver distraction algorithms. In...
Vehicle detection is the core function in any Driver Assistant System. Besides the challenge in various environmental conditions, the limitation in execution time and computing power is also critical. This paper proposes a shadow detection step that aims at recognizing the shadow part of the train in various environments (including very tough cases) to accelerate the detection process. We propose...
We present a model and a hypothesis testing based framework for determining genuinely good service providers from the ratings given to them by customers, allowing ratings to be imperfect representations of the service provided. The problem is complicated because the nature of the customer that rates the service provider affects the reliability of the rating, but this nature is not known a priori and...
In this paper, we propose an analysis method of drowsiness status of a driver from the opening and closing of eye. For this purpose, eyes, nose and mouth are detected to improve the area of interest using the spatial correlation in the existing Viola-Jones algorithm. Then, histogram equalization is performed for detection at night driving, and drowsiness status of the driver data with the accumulation...
Administration in big cities is strongly promoting electric taxis (ETs) by providing purchasing subsidies, accessorial public facilities and many other encouraging policies. However, how to allocate the limited resources to optimize the benefits brought by ETs remains a headache for most researchers. Applying data mining technology, this research gathers real-time vehicle trajectory data of 39,053...
Since many motor companies are considering applying gesture control to in-vehicle interaction, it becomes a question that how to match the secondary driving task with a suitable gesture. Based on the usability principle and the gesture database we built in this study, a usability test for in-vehicle gesture control was carried out in a simulated driving cockpit with an Eye-Tracker involved. 14 kinds...
Abnormality of the driver's Bio-physiological parameters has great impact on the driver's capability, and the ability to control a vehicle; which may cause severe car accidents. In this paper, a novel system was developed to monitor the driver's health status through a Wearable Bio-Sensors Bracelet that detects heath emergency threatening situations. The system collects live bio-signals data through...
Images projected from HUD (Head-up Display) are always overlaid with moving background scene. In such cases, drivers suffer from understanding instinctively the HUD information. Visibility enhancement of HUD information is very important for drivers to recognize easily and quickly the information. In this paper, we propose two visibility enhancement methods of HUD image, which are based on the dominant...
In this paper, we propose an intelligent auto-dipping system that will be placed on the dashboard of the vehicle. The moment it detects headlights of an oncoming vehicle, the high beam of host vehicle will be dipped automatically, with a flash of dipper to signal the oncoming vehicle. The system will be most effective when every vehicle has this auto-dipper installed. This system would help prevent...
The automobile industry has undergone a revolution in the recent past by accelerated rise of new technologies, increasing automation and cars have higher-end microprocessors on wheels. The driver assistance and support system are increasing in commercial vehicles. But the existing system does not include the driver in the loop for decision making. Driver fatigue is a major problem on roads and is...
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