Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Integrated chassis control systems represent a significant advancement in the dynamics of ground vehicles, aimed at enhancing overall performance, comfort, handling, and stability. As vehicles transition from internal combustion to electric platforms, integrated chassis control systems have evolved to meet the demands of electrification and...

A Literature Review on Train Motion Model Calibration

The dynamics of a moving train are usually described by means of a motion model based on Newton's second law. This model uses as input track geometry data and train characteristics like mass, the parameters that model the running resistance, the maximum tractive effort and power, and the brake rates to be applied. It can reproduce and predict...

The effect of vehicle parameter variation on drift equilibria points

A vehicle that is travelling at high sideslip angles can still be controlled by drifting. Implemented into a vehicle, this phenomenon could lead to increased vehicle safety and performance. Additionally, it could lead to higher acceptance rates of autonomous driving.<br/>In this work a three state vehicle model is used. Using this model,...

Optimization-based Fault Mitigation in Automated Driving

With increased developments and interest in platooning and higher levels of automation (SAE level 3+), the need for safety systems that are capable of monitoring system health and maintain safe operation in faulty scenarios is increasing. Methods for the detection, isolation and identification of faults in automated and cooperative driving is...

System identification of a dynamical model of a vehicle using data generated by a high-fidelity simulator

Unmanned vehicles are a vital topic in today’s science and technology field. The safety problem of unmanned vehicles has been paid more attention from researchers. People are continually developing new control technologies, making the auxiliary driving or control of vehicles more accurate and reliable. Before designing a reliable controller,...

Multi-Objective Trajectory Optimization for a Scaled Vehicle

The introduction of control systems in the automotive industry has significantly increased safety. Improved control over the vehicle dynamics has been shown to contribute to substantial reductions in the number of deaths and serious injuries resulting from road traffic crashes. The introduction of Electronic Stability Control yielded impressive...

Cooperative distributed predictive control for collision-free vehicle platoons

The rapidly developing computing and communication technologies improve the autonomy of individual vehicles on the one hand and facilitate the coordination among vehicles on the other. In the context of dynamic speed management, this study considers a platoon of intelligent vehicles that are required to maintain desired inter-vehicle spaces and...

Sensor Fusion of Computer Vision and Stock Sensors for Vehicle Dynamic Sideslip Estimation: Providing reliable state estimates with on-board sensors to support autonomous vehicle drift control

The Wheel-Rail Contact Problem in Vehicle Dynamic Simulation: Modeling of Train-Turnout Interaction

One of the major costs incurred by railway companies is the maintenance of turnouts.This situation occurs because the large dynamic forces between the wheels of a train and the rails of a turnout cause excessive wear, rolling contact fatigue and rapid degradation of other components. A thorough understanding of the dynamic interaction between a...

The modeling of transfer of steering between automated vehicle and human driver using hybrid control framework

Proponents of autonomous driving pursue driverless technologies, whereas others foresee a gradual transition where there will be automated driving systems that share the control of the vehicle with the driver. With such advances it becomes pertinent that the developed automated systems need to be safe. One crucial aspect of safety is to prove...

Central Differential Control of an Active Four Wheel Drive Vehicle

Four Wheel Drive (4WD) vehicles are almost as old as the automobile itself, however for more than half a century the main use case of a 4WD system was to improve traction on off-road terrains. The advancement in technology over the recent decades resulted in more advanced and light weight solutions shifting the focus more towards sports cars and...

Safe Interaction Between Lateral and Longitudinal Adaptive Cruise Control in Autonomous Vehicles

According to the statistics, driver error is the main reason for the road accidents: this has motivated an intensive research on intelligent vehicles equipped with automated driving technology, active safety and driver-assistance systems so as to enhance the safety of drivers, facilitate vehicle controllability and stability, and improve driving...

Estimating the Tire-Road Friction Coefficient Based on Tire Force Measurements

Electronic stability control (ESC) has been shown to reduce the accident rate in a number of situations. Therefore, it is important to keep improving ESC and other control systems. One way to do this is by improving the available information on the state of the vehicle and its environment. The tire-road friction coefficient µ is particularly...

A Semi-Empirical Three-Dimensional Model of the Pneumatic Tyre Rolling over Arbitrarily Uneven Road Surfaces

Nowadays virtual prototyping tools play an important part in the development of vehicles. For studying the dynamics of a vehicle, complex vehicle models are required that are composed of several accurately modelled components. As the tyre constitutes the only contact between the vehicle and the road surface, it is one of the most important...