A technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the vehicle dynamics of each vehicle within the platoon. The controlled vehicle is assumed to be capable of measuring (or estimating) necessary dynamical information from the vehicle immediately in front of it by its on-board sensors. The computer in the vehicle proce...

We consider in this paper the tracking control problem of an underactuated surface vessel moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the surface vessel is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the error cascade structure. The proposed controller i...

This paper proposes a hierarchical formation stabilization method for vehicles having nonlinear dynamics. Supposing that the formation control problem is already solved for the case of linear vehicle dynamics, the method proposes a dynamic inversion based low-level control, which linearizes, at least approximately, the original vehicle dynamics so that the formation control can be applied. In t...

We present a method for the estimation of vehicle mass and road gradient for a light passenger vehicle. The estimation method uses information normally available on the vehicle CAN bus without the addition of extra sensors. A composite parameter estimation algorithm incorporating a nonlinear adaptive observer structure uses vehicle speed over ground and driving torque to estimate mass and road ...

NONLINEAR DYNAMICS OF LONGITUDINAL GROUND VEHICLE TRACTION By Brian John Olson The purpose of this study is to investigate and understand the nonlinear dynamics of longitudinal ground vehicle traction. Specifically, the performance of rubber-tired automobiles under straight-ahead braking and acceleration conditions is discussed in detail. Two vehicle-traction models are considered—a quarter-car...

An increasing number of control systems in modern automotive vehicles is based on measurements of signals describing vehicle dynamics. Correspondingly, a large number of sensors is required. To spare on weight and even more important on costs, car manufacturers require joint processing of sensors, i.e. the individual sensors related to certain control systems should become part of a sensor netw...

This work addresses the construction of a fourwheel, nonlinear vehicle dynamic bond graph model and its implementation in the 20sim modeling and simulation environment. Nonlinear effects arising from the coupling of vertical, longitudinal and lateral vehicle dynamics, as well as geometric nonlinearities coming from the suspension system are taken into account. Transmission and (a simplified) en...

The Steer-By-Wire (SBW) paradigm for vehicle control offers many advantages over traditional use of mechanical steering systems but comes at the cost of loss of proprioception (“road feel”). To this end, haptic interfaces for SBW systems have been proposed to restore the intimacy of interactive control back to the driver. However, the degree of realism for the interaction is dependent on the fi...

The effect of acceleration – variable forward velocity, have been investigated on the steady-state and transient responses of turning vehicles and the resulted path of motion of the vehicle. Comparing the two mentioned responses of the vehicle could be used to prove that there is a negligible difference between the steady-state and transient centre of rotation of the vehicle in engineering appl...