although there are remarkable differences in drivers’ behavior as well as vehicles characteristics, road capacity estimationmethods in developing countries are same as developed ones. so, the discrepancy between the theoretical andpractical values of capacity is inevitable. although, capacity estimation methods can be classified based on numerousparameters, in developing countries, the availabi...

This paper deals with the robust control for Four Wheels Steering (4WS) vehicle dynamics when the road adhesion conditions change and the sideslip angle is unavailable for measurement. The nonlinear model of the vehicle, is firstly represented by a uncertain Takagi-Sugeno (T-S) model. Next, robust output stabilization of vehicle is considered. The controller and the observer are designed in ter...

This paper presents an ecological (eco) driving system based on prediction of the preceding vehicle using model predictive control. At any measured road-traffic states it computes the optimal vehicle control input using the models of the vehicle dynamics and fuel consumption. The prediction model the preceding vehicle is formulated based on experimentally obtained driving data. The proposed sys...

Vehicle control systems need to prognosticate future vehicle states in order to improve energy efficiency. This paper compares four approaches that are used to identify the parameters of a longitudinal vehicle dynamics model used for the prediction of vehicle tractive forces. All of the identification approaches build on a standard Kalman filter. Measurement signals are processed using the poly...

For a vehicle equipped with active single-wheel steering, brake, drive and suspension systems a nonlinear vehicle model is presented. On the basis of this model an integrated vehicle dynamics control is developed comprising all of the mentioned chassis actuators to control the plane vehicle motion. The basic control strategy consists in two parts. One part is a flatness based tracking controlle...

Behavior planning of a vehicle in real-world traffic is a difficult problem. Complex systems have to be build to accomplish the projection of tasks, environmental constraints, and purposes of the driver to the dynamics of two controlled variables: steering angle and velocity. This paper comprises two parts. First, the behavior planning for the task of intelligent cruise control is proposed. The...