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Vehicle dynamics and control

31 Oct 2005-

Abstract: 1. Introduction.- 2.Lateral Vehicle Dynamics.- 3. Steering Control For Automated Lane Keeping.- 4. Longitudinal Vehicle Dynamics.- 5. Introduction to Longitudinal Control.- 6. Adaptive Cruise Control.- 7. Longitudinal Control for Vehicle Platoons.- 8. Electronic Stability Control.- 9. Mean Value Modeling Of SI and Diesel Engines.- 10. Design and Analysis of Passive Automotive Suspensions.- 11. Active Automotive Suspensions.-12. Semi-Active Suspensions.- 13. Lateral and Longitudinal Tires Forces.- 14. Tire-Road Friction Measurement on Highway Vehicles.- 15. Roll Dynamics and Rollover Prevention.- 16. Dynamics and Control of Hybrid Gas Electric Vehicles.
Topics: Vehicle dynamics (60%), Electronic stability control (59%), Automobile handling (53%), Rollover (52%), Cruise control (51%)
Citations
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Journal ArticleDOI
Brian Paden1, Michal Cap1, Sze Zheng Yong1, Dmitry S. Yershov1  +1 moreInstitutions (1)
13 Jun 2016-
Abstract: Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side by side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

1,040 citations


Book
04 Nov 2009-
Abstract: Tire and rim fundamentals.- Forward vehicle dynamics.- Tire dynamics.- Driveline dynamics.- Applied kinematics.- Applied mechanisms.- Steering dynamics.- Suspension mechanisms.- Applied dynamics.- Vehicle planar dynamics.- vehicle roll dynamics.- Applied vibrations.- Vehicle vibrations.- suspension optimization.- Quarter car.

823 citations


Posted Content
Brian Paden1, Michal Cap1, Sze Zheng Yong1, Dmitry S. Yershov1  +1 moreInstitutions (1)
25 Apr 2016-arXiv: Robotics
TL;DR: The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting and to gain insight into the strengths and limitations of the reviewed approaches.
Abstract: Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

784 citations


Cites background from "Vehicle dynamics and control"

  • ...CONTENTS I Introduction 2...

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  • ...In the remainder of the section we discuss the responsibilities of each of these components in more detail....

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Journal ArticleDOI
23 Jul 2014-ROBOMECH Journal
TL;DR: This paper points out the tradeoff between model completeness and real-time constraints, and the fact that the choice of a risk assessment method is influenced by the selected motion model.
Abstract: With the objective to improve road safety, the automotive industry is moving toward more “intelligent” vehicles. One of the major challenges is to detect dangerous situations and react accordingly in order to avoid or mitigate accidents. This requires predicting the likely evolution of the current traffic situation, and assessing how dangerous that future situation might be. This paper is a survey of existing methods for motion prediction and risk assessment for intelligent vehicles. The proposed classification is based on the semantics used to define motion and risk. We point out the tradeoff between model completeness and real-time constraints, and the fact that the choice of a risk assessment method is influenced by the selected motion model.

682 citations


Proceedings ArticleDOI
27 Aug 2015-
TL;DR: Experimental results show the effectiveness of the proposed approach at various speeds on windy roads, and it is shown that it is less computationally expensive than existing methods which use vehicle tire models.
Abstract: We study the use of kinematic and dynamic vehicle models for model-based control design used in autonomous driving In particular, we analyze the statistics of the forecast error of these two models by using experimental data In addition, we study the effect of discretization on forecast error We use the results of the first part to motivate the design of a controller for an autonomous vehicle using model predictive control (MPC) and a simple kinematic bicycle model The proposed approach is less computationally expensive than existing methods which use vehicle tire models Moreover it can be implemented at low vehicle speeds where tire models become singular Experimental results show the effectiveness of the proposed approach at various speeds on windy roads

398 citations


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Performance
Metrics
No. of citations received by the Paper in previous years
YearCitations
202212
2021278
2020337
2019347
2018323
2017273