A path tracking controller based on front wheel steering angle and additional yaw moment control is designed to achieve safe obstacle avoidance of distributed drive electric vehicles. Using sixth-degree polynomial at a given time with anti-collision anti-rollover conditions, the planning proposed. The are output by Model Predictive Control (MPC) controller. torque distribution Through vertical ...

Aiming at the lateral stability control problem of distributed driven electric vehicles under high speed steering condition, a hierarchical algorithm direct yaw moment is designed. The upper takes 2-DOF vehicle model as reference and uses sliding mode to obtain required by tracking desired velocity side-slip angle. lower optimizes distribution four wheel torque with minimum tire utilization rat...

Abstract In order to solve the problem of abrupt curvature change at connection between arcs and straight lines in circle-line-circle (C-L-C) combined parallel parking paths, optimization was carried out by using a cycloid curve, trajectory heading Angle were made meet pose requirements parking. By establishing kinematics model state equation taking optimized C-L-C as reference trajectory, erro...

Abstract In order to make the trajectory tracking of intelligent vehicle has good accuracy. this article, a horizontal and vertical cooperative control strategy is proposed. This measure takes dynamics model as research object, feedforward added lateral controller up for deficiency LQR tracking. The longitudinal dual PID algorithm used track in controller. CarSim with Simulink environment set s...

This paper describes a system to create animated 3D scenes of car accidents from reports written in Swedish. The system has been developed using news reports of varying size and complexity. The text-to-scene conversion process consists of two stages. An information extraction module creates a tabular description of the accident and a visual simulator generates and animates the scene. We first d...

This paper describes a system to create animated 3D scenes of car accidents from reports written in Swedish. The system has been developed using news reports of varying size and complexity. The text-to-scene conversion process consists of two stages. An information extraction module creates a structured representation of the accident and a visual simulator generates and animates the scene. We f...

The paper focuses on the control challenge of intersections related to appearance autonomous vehicles roads, which established mixed traffic situations with human-driven or scenarios only vehicles. goal research is by Model Predictive Control method guarantee collision-free passage at intersection. Generally outcome a situation can be varied and fully automated Therefore results proposed coordi...

Moving car on rough road suddenly gets out of its way for some reason and moves to the edge of the road at the same speed. Since the most important factor in car overturning is vertical acceleration in the wheels and car speed and road conditions determine the vertical instantaneous acceleration, brake system according to change of the spring length is designed in such a way that by monitoring ...