In this report, we apply an input-output transformation passivation method, described in our previous works, to an Adaptive Cruise Control system. We analyze the system’s performance under a co-simulation framework that makes use of an online optimization method called extremum-seeking to achieve the optimized behavior. The matrix for passivation method encompasses commonly used methods of seri...

In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can redu...

In this paper, a robust wheel slip control system based on a sliding mode controller is proposed for improving traction-ability and reducing energy consumption during sudden acceleration for a personal electric vehicle. Sliding mode control techniques have been employed widely in the development of a robust wheel slip controller of conventional internal combustion engine vehicles due to their a...

In addition to clean transportation and energy savings, electric vehicles can inherently offer better performance in the field of active safety and dynamic stability control, thanks to the superior fast and accurate control characteristics of electric motors. With the novel wheel status parameter TA for electric vehicles proposed by the authors in an earlier publication, a new TA index (TAI)-ba...

This paper presents an integrated traction control strategy (ITCS) for distributed drive electric vehicles. The purpose of the proposed strategy is to improve vehicle economy and longitudinal driving stability. On high adhesion roads, economy optimization algorithm is applied to maximize motors efficiency by means of the optimized torque distribution. On low adhesion roads, a sliding mode contr...

In order to solve the problem of vehicle stability control after a single-wheel brake failure in brake-by-wire system, strategy braking force redistribution with yaw moment is proposed ensure efficiency and vehicles. this strategy, two-layer architecture adopted. upper layer control, fault factor introduced represent real-time degree wheel, driver’s intention perceived through pedal travel spee...

In order to solve the problems of wheel locking and loss vehicle control due understeering or oversteering during braking energy-recovery process hydraulic regenerative system (HRBS), aiming at characteristics chassis domain that can realize coordinated work among various systems, a cooperative strategy HRBS based on was proposed. Firstly, test bench built, accuracy simulation model verified by...

To solve the problem of longitudinal cooperative formation driving control multiple vehicles, a model-free adaptive algorithm with constraints (cMFAC) is proposed in this paper. In cMFAC algorithm, dynamic linearization technique time-varying parameter pseudo-gradient (PG) used to linearize multivehicle collaborative system. Then, controller designed. The sets input and output at same time prev...

As the bottom layer of autonomous vehicle, path tracking control is a crucial element that provides accurate command to X-by-wire chassis and guarantees vehicle safety. To overcome deterioration performance for path-tracking controllers caused by modeling errors parameter perturbation, an adaptive robust framework proposed in this paper. Firstly, 2-DOF dynamic model established non-singular fas...

Performing stable and safe lane changes can avoid collisions improve traffic safety. In recent years, most of the research in automated ground transportation was focused on path planning tracking. However, this work emphasizes importance changing time point. Based traditional safety distance, a novel concept, that is synthesized distance for (SSDLC), proposed to study It consists reference weig...