Journal ArticleDOI
Design and Hardware-In-Loop Implementation of Collision Avoidance Algorithms for Heavy Commercial Road Vehicles
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TLDR
In this paper, a collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort.Abstract:
An important aspect from the perspective of operational safety of heavy road vehicles is the detection and avoidance of collisions, particularly at high speeds. The development of a collision avoidance system is the overall focus of the research presented in this paper. The collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort. Important dynamic characteristics such as load transfer during braking, tyre-road interaction, dynamic brake force distribution and pneumatic brake system response were considered. The effect of aerodynamic drag on the controller performance was also studied. The developed control algorithms have been implemented on a Hardware-in-Loop experimental set-up equipped with the vehicle dynamic simulation software, IPG/TruckMaker®. The evaluation has been performed for realistic traffic scenarios with different loading and road conditions. The Ha...read more
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TL;DR: In this paper, the authors integrated human driver factors with a model-based Collision Avoidance System (CAS) to enhance the safety of semi-autonomous vehicles, where the performance of the algorithm has been evaluated for various on-road scenarios and found to be effective in avoiding rear-end collisions.
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Design of a Dynamic Brake Force Regulation Strategy for Heavy Commercial Road Vehicles
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References
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Journal ArticleDOI
Recursive least squares with forgetting for online estimation of vehicle mass and road grade: theory and experiments
TL;DR: In this article, an ad hoc modification of the update law for the gain in the recursive least square (RLS) scheme is proposed and used in simulation and experiments, demonstrating that the proposed scheme estimates mass within 5% of its actual value and tracks grade with good accuracy.
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Brake design and safety
TL;DR: This book is a single source of information on all essential concepts, guidelines and design checks required for designing safer brakes.
Journal ArticleDOI
Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations
TL;DR: With vehicle hardware-in-the-loop (VEHIL) simulations, the development process, and more specifically the validation phase, of intelligent vehicles is carried out safer, cheaper, and is more manageable.
Proceedings ArticleDOI
Development of a collision avoidance system
TL;DR: In this article, the analysis of a rear-end collision warning/avoidance (CW/CA) system algorithm is presented, which is designed to meet several criteria: 1. System warnings should result in a minimum load on driver attention. 2. Automatic control of the brakes should not interfere with normal driving operation.
Journal ArticleDOI
Combined longitudinal and lateral control for automated vehicle guidance
TL;DR: In this paper, an automated steering strategy based on nonlinear model predictive control is proposed to cope with the longitudinal speed tracking problem, and a simultaneous longitudinal and lateral control strategy helps to improve the combined control performance.
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