International Journal of Vehicle Autonomous Systems 

About: International Journal of Vehicle Autonomous Systems is an academic journal published by Inderscience Publishers. The journal publishes majorly in the area(s): Vehicle dynamics & Control theory. It has an ISSN identifier of 1471-0226. Over the lifetime, 235 publications have been published receiving 3534 citations. The journal is also known as: IJVAS.

MPC-Based Approach to Active Steering for Autonomous Vehicle Systems

Abstract: In this paper a novel approach to autonomous steering systems is presented. A model predictive control (MPC) scheme is designed in order to stabilize a vehicle along a desired path while fulfilling its physical constraints. Simulation results show the benefits of the systematic control methodology used. In particular we show how very effective steering manoeuvres are obtained as a result of the MPC feedback policy. Moreover, we highlight the trade off between the vehicle speed and the required preview on the desired path in order to stabilize the vehicle. The paper concludes with highlights on future research and on the necessary steps for experimental validation of the approach.

An optimal-control-based framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios

Abstract: This paper formulates the vehicle navigation task as a constrained optimal control problem with constraints bounding a traversable region of the environment A model predictive controller iteratively plans an optimal vehicle trajectory through the constrained corridor and uses this trajectory to establish the minimum threat posed to the vehicle given its current state and driver inputs Based on this threat assessment, the level of controller intervention required to prevent departure from the traversable corridor is calculated and driver/controller inputs are scaled accordingly Simulated and experimental results are presented to demonstrate multiple threat metrics and configurable intervention laws

Towards Characterising and Classifying Communication–based Automotive Applications from a Wireless Networking Perspective

Abstract: Together, the Dedicated Short Range Communication (DSRC) and Vehicular Ad Hoc Network (VANET) technologies provide a unique opportunity to develop and introduce various types of communication- based automotive technologies to the marketplace. To date, many applications have been identified by the automotive community. Given the large number and diverse nature of these applications, it is advantageous to develop a systematic classification methodology to facilitate future DSRC and VANET research. Toward this objective, in this paper, we present a study that goes through two major steps: characterisation and classification. First, we focus on a set of representative applications and characterise them with respect to plausible application- and networking-related attributes. The characterisation process not only strengthens our understanding of the applications but also sets the stage for the classification step since it reveals numerous application commonalities. Thus, we have categorised the given applications into seven generic classes, with the consideration of balancing the trade-off between exploiting as many application similarities as possible while preserving their salient differences. This is of paramount importance to facilitate performance analysis of newly designed protocols. Finally, we have identified key performance metrics for each class of applications, which, we hope, could bridge the gap between the automotive and wireless networking communities. Accordingly, the proposed classes are envisioned to play a dual-role: facilitate application simulation and performance evaluation and guide DSRC and VANET protocol research and development.

Autonomous Vehicle Control at the Limits of Handling

Abstract: Racecar drivers have the ability to operate a vehicle at its friction limit without losing control. If autonomous vehicles or driver assistance systems had similar capabilities, many fatal accidents could be avoided. To advance this goal, an autonomous racing controller is designed to gain insights into vehicle control at the friction limits. A bicycle model and a ‘ g-g ’ diagram are used to mimic racecar drivers’ internal vehicle model. Lanekeeping steering feedback and wheel slip feedback controllers are used to imitate drivers making steering and throttle corrections according to the vehicle responses. Experimental results on a low friction surface demonstrate that the controller can robustly track a path while operating at the limits of tyre adhesion and provide insights for the future development of vehicle safety systems.

Autonomous ground vehicle control system for high-speed and safe operation

Abstract: This paper describes a new Autonomous Ground Vehicles (AGVs) trajectory tracking control system towards safe and high-speed operations enabled by incorporating Vehicle Dynamics Control (VDC). The system consists of an AGV desired yaw rate generator based on a kinematic model, and a yaw rate controller based on the vehicle/tyre dynamic models. Sliding Mode Control (SMC) is used to handle the system uncertainties. The performance of the control system was evaluated by using a high-fidelity (experimentally validated) full-vehicle Sport Utility Vehicle (SUV) model provided by CarSim®. Compared with the results of position-error-based AGV control, significant performance improvement was observed.