In this paper we present a Model Predictive Control (MPC) approach for combined braking and steering systems in autonomous vehicles. We start from the result presented in (Borrelli et al. (2005)) and (Falcone et al. (2007a)), where a Model Predictive Controller (MPC) for autonomous steering systems has been presented. As in (Borrelli et al. (2005)) and (Falcone et al. (2007a)) we formulate an M...

This paper describes a dynamic model and crosscoupling control of a mobile robot with four independently steered and driven wheels. The dynamic model incorporates the components of the wheel mechanisms, backlash effects of the wheel actuators and nonlinear forces produced by the tire-ground interaction. The problem of computationally efficient control of the vehicle is solved using a low-level ...

This study presents analysis of errors of calculations for engine load during vehicle acceleration phase, resulting from some simplifications or errors in selection of mass moment of inertia. A varied impact of the assumed, on unknown basis, values of the mass moments of inertia on calculation error was shown. According to the author, more accurate results of calculations of coefficient of rota...

Crashes at rail level crossings represent a significant problem, both in Australia and worldwide. Advances in driving assessment methods, such as the provision of on-road instrumented test vehicles, now provide researchers with the opportunity to further understand driver behaviour at rail level crossings in ways not previously possible. This paper gives an overview of a recent onroad pilot stu...

The paper addresses the problem of vehicle rollover avoidance using reference governors applied to modify the driver steering input in vehicles with an active steering system. Several reference governor designs are presented and tested with a detailed nonlinear simulation model. The vehicle dynamics are highly nonlinear for large steering angles, including the conditions where the vehicle appro...

Plus-sizing in the tire industry is the growing practice of replacing a vehicle’s original equipment wheel size with a larger diameter wheel and replacing the tire with a lower aspect ratio tire of the same diameter. This practice is normally associated with aftermarket sales, and there is a growing trend for vehicle dealerships to fit these larger wheels/tires to new cars. This paper discusses...

The motor vehicles which dispose of two steering auto decks, at which back and front wheels are positioned backwards for reducing the veering radius, has the advantage of reducing the stability at high speeds in auto racing. In this paper is made an analysis of the steering boxes on back axle variant, which combine the advantage of reducing veering radius with keeping its whole stability.

Automatic track guiding of vehicles is of increasing interest for Intelligent Vehicle/ Highway Systems 1{3]. Track guided vehicles are used in automated production facilities, ship docks, and for city busses which drive in special narrow lanes. The primary task of such a system is to follow a path as well as possible. Track guiding systems have been designed for various controller structures 4{...

Legged robots have superior terrain adaptability comparing to traditional wheeled vehicles. They also offer attractive capabilities in terms of agility and obstacle avoidance. On the other hand, traditional wheeled platforms provide sufficient robustness, mechanical simplicity and energetic performance. They are fast, powerful in terms of load to weight ratio, stable, and easy to control. Hybri...

With the features of high centroid, high load capacity and high aspect ratio, heavy vehicles are prone to rollover when running at high speeds in the corners, so the study of heavy vehicle rollover warning method presents important realistic meanings. In this paper, firstly, the composition of early warning systems is analyzed, and then the principles of rollover warning method based on suspens...