نتایج جستجو برای: 4 wheel steering vehicle

تعداد نتایج: 1424995  

2014
S. H. Tabatabaei

In this work, an optimal control scheme with adaptive weighting coefficients is presented which coordinates different vehicle dynamics control objectives, thus ruling out possible conflicts among them. In a new approach, the weighting coefficients in optimal control are adjusted according to the vehicle state in the phase plane in such a way that a priority is given to each objective of handlin...

2005
Christian Gerdes Kenneth J. Waldron

Recent advances toward steer-by-wire technology have promised significant improvements in vehicle handling performance and safety. While the complete separation of the steering wheel from the road wheels provides exciting opportunities for vehicle dynamics control, it also presents practical problems for steering control. This thesis begins by addressing some of the issues associated with contr...

2013
Muhammad Aizzat Zakaria Hairi Zamzuri Rosbi Mamat Saiful Amri Mazlan

Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and...

2001
Michael Krödel Klaus-Dieter Kuhnert

Overview. This abstract describes the current research in the area of autonomously driving of a vehicle along different road courses [1]. The focus of this paper are two main aspects: firstly, parameters of the environment are being extracted from a video image coming from one single camera which is installed in or in front of the vehicle which is to drive along the road course; secondly, the i...

2013
Azeddine Draou

This paper presents a simple sliding mode control strategy used for an electronic differential system for electric vehicle with two independent wheel drives. When a vehicle drives along a curved road lane, the speed of the inner wheel has to be different from that of the outer wheel in order to prevent the vehicle from vibrating and travelling an unsteady path. Because each wheel of this electr...

2016
Justin R. Brooks Javier O. Garcia Scott E. Kerick Jean M. Vettel

Driving a motor vehicle is an inherently complex task that requires robust control to avoid catastrophic accidents. Drivers must maintain their vehicle in the middle of the travel lane to avoid high speed collisions with other traffic. Interestingly, while a vehicle's lane deviation (LD) is critical, studies have demonstrated that heading error (HE) is one of the primary variables drivers use t...

Journal: :journal of operation and automation in power engineering 2014
m. moazen m. sabahi

using an electric differential (ed) in electric vehicle has many advantages such as flexibility and direct torque control of the wheels during cornering and risky maneuvers. despite its reported successes and advantages, the ed has several problems limits its applicability, for instance, an increment of control loops and an increase of computational effort. in this paper, an electric differenti...

Journal: :Science Robotics 2016
Lene K. Harbott Ilana Nisky Selina Pan Allison M. Okamura J. Christian Gerdes

Vehicles in the foreseeable future will be required to transition between autonomous driving (without human involvement) and full human control. During this transition period, the human, who has not been actively engaged in the driving process, must resume the motor control necessary to steer the car. The in-car study presented here demonstrates that when human drivers are presented with a stee...

Journal: :Quarterly journal of experimental psychology 2014
Ilja Frissen Franck Mars

It has long been held that steering a vehicle is subserved by two distinct visual processes, a compensatory one for maintaining lane position and an anticipatory one for previewing the curvature of the upcoming road. In this study, we investigated the robustness of these two steering control processes by systematically degrading their visual inputs. Performance was measured at the level of vehi...

Journal: :Robotics and Autonomous Systems 2005
Yanan Zhao Emmanuel G. Collins

This paper develops and experimentally demonstrates a robust automatic parallel parking algorithm for parking in tight spaces. Novel fuzzy logic controllers are designed for each step of the maneuvering process. The controllers are first demonstrated by simulation using the kinematic model of a skid steering autonomous ground vehicle (AGV). They are then demonstrated experimentally on a skid st...

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