The paper addresses the robust design of a lateral stability controller for ground vehicles. Nonlinear vehicle dynamics are modeled by an approximate hybrid piecewise–affine model. Control of the vehicle yaw rate and lateral velocity of the center of gravity is achieved through steering and four wheels independent braking. Uncertainty in actuation is explicitly taken into account by introducing...

Hazard avoidance is an important capability for safe operation of robotic vehicles at high speed. It is also an important consideration for passenger vehicle safety, as thousands are killed each year in passenger vehicle accidents caused by driver error. Even when hazard locations are known, high-speed hazard avoidance presents challenges in real-time motion planning and control of nonlinear an...

The goal of this thesis has been to study the behaviour of the closed loop driver-vehicle-environment in simulation and to find parameters of the synthetic vehicle model, which minimise certain optimisation criteria. A method of optimising parameters using genetic algorithms has been implemented and has proven to work well. Two different driving strategies have been tried in the optimisation of...

In this paper, we propose a method to analyze the longitudinal dynamics of heterogeneous connected vehicle systems including human-driven vehicles and vehicles driven by connected cruise control. Human reaction time and digital sampling time are incorporated in the models. Conditions of plant stability and head-to-tail string stability are presented.

Modelica is a language for modeling the physical world. This language is developed by researchers from different organizations. Modelica is an object-oriented language, and based on equations, which belongs to non-causal modeling. There are tools developed for Modelica. Modelica can model vehicle motion in a lively and easily way. With Modelica, many complex systems can be modeled and analysed.