In this paper, a novel vehicle dynamics controller is proposed by combining two control loops which are formed by the individually actuated wheel braking and steering regulator. The inner braking loop regulates the individual tire force generation and prevents tire force saturation with respect to tire slip. When the tire forces are regulated to operate in the linear region of their nonlinear c...

To design an automatic steering controller with high performance for autonomous vehicle, it is necessary to have a precise model of the lateral dynamics with respect to the steering command input. This paper presents an empirical modeling of the steering system for an autonomous vehicle. The steering system here is represented by three individual transfer function models: a steering wheel actua...

This paper aims to develop a driver steering model that can capture driver’s key steering mechanisms from a control engineering point of view. Analyses with Double Lane Change (DLC) vehicle test data suggest that, instead of following the traditional concept of trajectory planning, drivers use target points located along the centerline of the lane they are changing to as references for control....

Interactive Computational Steering is the online, interactive allocation and adjustment of system resources and application parameters. Causal consistency is an important feature of interactive steering of distributed computations, as it is often required to maintain the correctness of the computation. However, due to the asynchronous nature of distributed computations, it is difficult to coord...

The suspension system is used to observe the vibrations from shock loads due to irregularities of the road surface. It is perform its function without impairing the stability, steering (or) general handling of the vehicle. Generally for light vehicles, coil springs are used as suspension system. A spring is an elastic object used to store mechanical energy and it can be twist, pulled (or) stret...

Vector field (otherwise known as force vector or force field) navigation has been used in mobile robotics primarily for goal oriented navigation and obstacle avoidance. At the most basic level the vector field consists of attractive forces, goals, and repulsive forces, usually objects. Both attractive and repulsive forces are usually characterised as point forces. The shortfall of this characte...

Vehicle drivers receive tactile feedback from steering-wheel vibration that depends on the frequency and magnitude of the vibration. From an experiment with 12 subjects, equivalent comfort contours were determined for vertical vibration of the hands at two positions with three grip forces. The perceived intensity of the vibration was determined using the method of magnitude estimation over a ra...

We describe a method to control a motion of particles during physically based simulation. Specifically we design force fields which drive particles so as to shape a human figure. We define attraction, steering and repulsion force fields to achieve a target shape and avoid obstacles. We use key frames of a skeleton of a human figure as a target shape and distribute attraction points over the tar...

This paper presents a process for the estimation of tire-road forces, vehicle sideslip angle and wheel cornering stiffness. The method uses measurements (yaw rate, longitudinal/lateral accelerations, steering angle and angular wheel velocities) only from sensors which can be integrated or have already been integrated in modern cars. The estimation process is based on two blocks in series: the f...

Anovelmission concept based on ahybrid low-thrust propulsion system is proposed anddiscussed.A solar electric propulsion thruster is coupled with an auxiliary system providing an inverse square radial thrust. In this way the spacecraft is virtually subjected to a reduced gravitational solar force. The primary purpose of this paper is to quantify the impact of the reduced solar force on the prop...