Path tracking plays a crucial role in autonomous driving. In order to ensure the real-time performance of controller and at same time improve stability adaptability path controller, lateral control strategy based on improved LQR algorithm is proposed this paper. To begin with, discrete with feedforward feedback components designed error model vehicle dynamics constructed by natural coordinate s...

In order to further improve the braking performance of nonlinear antilock system (ABS), an improved global sliding mode control scheme is presented. First, a surface designed. The method can eliminate reaching phase compared with conventional linear surface, and guarantee robustness during whole process. Then, novel law proposed satisfy condition, theoretical proof given. Simulation results dem...

We study the platoon control of vehicles with third-order nonlinear dynamics under constant time headway spacing policy. consider a vehicle model parameter uncertainties and external disturbances propose distributed law based on an event-triggered extended state observer. First, observer is designed to estimate unmodeled in model. Then dynamics, by using modified dynamic surface method. The eac...

The traditional adaptive cruise system is responsible for delay in recognizing the cut-in/cut-out behaviour of front vehicle, and there significant longitudinal acceleration vehicle fluctuation leading to reduced driver’s comfort level even dangerous situation. In this paper, next generation simulation data set back propagation (BP) neural network are used train lane change recognition model re...

For the sake of safety, vehicle path tracking control should not only ensure stability error containing lateral offset and orientation but also guarantee that both transient steady states are within a specified safe boundary. However, time-varying uncertainties system make design tough task. This paper develops an adaptive robust (ARC) which guarantees bounded property for autonomous vehicles. ...

The in-wheel electric vehicle is expected to be a popular next-generation vehicle because an in-wheel system can simplify the powertrain and improve driving performance. In addition, it also has an advantage in that it maximizes driving efficiency through independent torque control considering the motor efficiency. However, there is an instability problem if only the driving torque is controlle...

Products and processes have become increasingly complex to meet demands on performance, reliability, and cost. As a result, simulation has become a key component to successfully designing and delivering these products to market. Mechatronics--also known as smart or cyber-physical systems—is a marriage of machine to sensors, actuators, and computing power to achieve the system goals which cannot...

The tire-road friction coefficient is critical information for conventional vehicle safety control systems. Most previous studies in tire-road friction estimation have only considered either longitudinal or lateral vehicle dynamics which tends to cause significant underestimation of the actual tire-road friction coefficient. In this paper, the parameters, including the tireroad friction coeffic...

Most existing ESC (Electronic Stability Control) systems rely on the measurement of both yaw rate and sideslip angle. However, one of the main issues is that the sideslip angle cannot be measured directly because the sensors are too expensive. For this reason, sideslip angle estimation has been widely discussed in the relevant literature. The modeling of sideslip angle is complex due to the non...

The effect of vehicle active safety systems is subject to the friction force arising from the contact of tires and the road surface. Therefore, an adequate knowledge of the tire-road friction coefficient is of great importance to achieve a good performance of these control systems. This paper presents a tire-road friction coefficient estimation method for an advanced vehicle configuration, four...