In this paper, we focus on the parking path planning and tracking control under parallel conditions with automatic system as research object. order to solve problem of discontinuity curvature in traditional arc-straight combined curve, a quintic polynomial is used smooth path. design controller based incremental model predictive (MPC). The preview pure algorithm comparison for tracking. feasibi...

To improve the real-time performance of estimation method road friction coefficient (RFC) based on moving horizon (MHE), a hierarchical for RFC combining single-step MHE (S-MHE) and inverse tire model (ITM) lateral vehicle dynamics is proposed in this study. Firstly, framework designed to decouple systems. Secondly, S-MHE estimator nonlinear estimate force. Thirdly, ITM deduced Pacejka model, d...

Most of drivers have to compensate small directional deviations from the desired driving path when disturbances such as crosswinds, overtakings, road irregularities and unintended driver inputs  are imposed. These types of deviations have a tiring effect on driver and traffic’s safety and should be minimised. To increase the understanding the influence of vehicle’s properties in crosswind and o...

Accurate knowledge of the vehicle dynamics response is a critical aspect to improve handling performance while ensuring safe driving at same time. However, it poses challenge since not all quantities interest can be directly measured due cost and/or technological reasons. Therefore, combining principle robust filtering and unscented particle algorithm, filter estimation method state proposed es...

Four-wheel independent drive electric vehicles have become the latest development trend of due to their simple structure and high control accuracy. Aiming at sliding problem four-wheel driving in process, a anti-skid strategy is designed. The includes two contents: (1) road recognition module that tracks best slip rate real time; (2) uses fuzzy PID control. Then, based on Carsim MATLAB/Simulink...

In the field of automated technology research and development, trajectory tracking plays a crucial role in energy consumption vehicle’s power battery. Reducing deviation between actual reference is focus research. This paper proposes use model predictive control (MPC) method to reduce lateral longitudinal position driving trajectory. First, conditions vehicle are reflected by establishing dynam...

We present a hybrid physical-dynamic tire/road friction model for applications of vehicle motion simulation and control. We extend the LuGre dynamic friction model by considering the physical model-based adhesion/sliding partition of the tire/road contact patch. Comparison and model parameters relationship are presented between the physical and the LuGre dynamic friction models. We show that th...

This paper introduces a procedure for controlling autonomous vehicles entering roundabouts. The aim of the centralized controller is to define velocity profile each vehicle by which collisions can be avoided and traveling times minimized. To achieve these performances, model predictive control introduced based on solution an analytical calculation spent in roundabout designing vehicles’ profile...

This paper studies the lateral control problem for intelligent vehicles based on concept of shared control. Considering participation drivers in loop, a control-based controller is designed, which consists two differed controllers: one an LQR-based autonomous driving and other driver’s intention-based fuzzy controller. For vehicle dynamic model with two-degrees freedom, LQR are designed. Then, ...

In this paper, a new collision avoidance switching system is proposed to address the lack of adaptability intelligent vehicles under different operating conditions. To ensure rationality strategy for vehicles, NGSIM road dataset introduced analyse driver’s behaviour, and two-layer fuzzy controller considering overlap rate established design strategy. order achieve real-time activation, lane cha...