Advanced Vehicle Control Proceedings of the 13th International Symposium on Advanced Vehicle Control, September 13-16, 2016, Munich, Germany PDF
Preview Advanced Vehicle Control Proceedings of the 13th International Symposium on Advanced Vehicle Control, September 13-16, 2016, Munich, Germany
ADVANCEDVEHICLECONTROL AVEC’16 PROCEEDINGSOFTHE13THINTERNATIONALSYMPOSIUMONADVANCEDVEHICLE CONTROL(AVEC’16),MUNICH,GERMANY,13–16SEPTEMBER2016 Advanced Vehicle Control AVEC’16 Editors Johannes Edelmann & Manfred Plöchl TUWien,Vienna,Austria Peter E. Pfeffer MunichUniversityofAppliedSciences,Munich,Germany Coverimage:Source:ShutterstockbyNikiforTodorov/Shutterstock.com CRCPress/BalkemaisanimprintoftheTaylor&FrancisGroup,aninformabusiness ©2017Taylor&FrancisGroup,London,UK TypesetbyMPSLimited,Chennai,India Allrightsreserved.Nopartofthispublicationortheinformationcontainedhereinmaybe reproduced,storedinaretrievalsystem,ortransmittedinanyformorbyanymeans, electronic,mechanical,byphotocopying,recordingorotherwise,withoutwrittenprior permissionfromthepublishers. 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Publishedby: CRCPress/Balkema P.O.Box11320,2301EHLeiden,TheNetherlands e-mail:[email protected] www.crcpress.com–www.taylorandfrancis.com ISBN:978-1-138-02992-7(Hardback) ISBN:978-1-315-26528-5(eBook) AdvancedVehicleControl–Edelmann,Plöchl&Pfeffer(Eds) ©2017Taylor&FrancisGroup,London,ISBN978-1-138-02992-7 Table of contents Preface XIII AVEC’16InternationalScientificCommittee XV Advancedconceptsofintegratedtyreforcecontrol Developmentofvehicledynamicscharacteristicsusingmodernchassissystemsforbody controldependingonthevehicleconcept 3 G.Boisdequin,Th.Maulick&St.Sabath Optimization-basedanalysisofactivesuspensionauthoritywithinintegrated vehicledynamicscontrolsystems 9 J.Deur,M.Cˇoric´,L.Xu,H.E.Tseng&D.Hrovat Energyefficienttorquevectoringcontrol 17 P.Gruber,A.Sorniotti,B.Lenzo,G.DeFilippis&S.Fallah Steeringredundancyforself-drivingvehiclesusingdifferentialbraking 23 M.Jonasson&M.Thor ADAS Riskpredictivesafespeedcontrolforcollisionavoidanceinrightturndynamic environmentsituation 31 Y.Fujinami,P.Raksincharoensak,Y.Akamatsu,D.Ulbricht&R.Adomat Speedcontrolforreducedriskofcollisionwithoncomingvehiclesinobstacleavoidancescenarios 37 A.Arikere,M.Klomp&M.Lidberg Torque-basedsteeringassistanceforcollisionavoidanceduringlanechanges 43 Z.Ercan,A.Carvalho,S.Lefèvre,F.Borrelli,H.E.Tseng&M.Gokasan EnhancingpathtrackingperformancebyusinghapticsharedsteeringcontrolcombinedwithDYC 49 S.Inoue,H.Inoue,T.Ozawa,P.Raksincharoensak&M.Nagai Evaluationofanevasivemanoeuvreassistancesystematimminentsidecollisions 55 D.Yang,M.Jonasson,T.Halleröd&R.Johansson Generalizedpredictivecontrolbasedonvehiclepathfollowingstrategybyusingactive steeringsystem 61 Y.Cao&F.Yu Target&controlbasedlanekeepingassistancesystemwithcentererrorcorrectionalgorithm 67 E.Wang,L.-W.Jeng,K.Li&C.Fan AdaptationofADAS-functionsbyidentifyingdriverfingerprint 73 G.Büyükyildiz,A.Hafner,R.Henze,F.Küçükay&M.Vollrath DrivingCube–Anovelconceptforvalidationofpowertrainandsteeringsystemswith automateddriving 79 C.Schyr&A.Brissard ClosetorealitysurroundingmodelforvirtualtestingofautonomousdrivingandADAS 85 F.Chucholowski,C.Gnandt,C.Hepperle&S.Hafner V Vehiclefollowing Autonomouscruisecontrolwithcut-intargetvehicledetection 93 A.Carvalho,A.Williams,S.Lefèvre&F.Borrelli PadéapproximationofdelaysinCACC-controlledstring-stableplatoons 99 H.Xing,J.Ploeg&H.Nijmeijer Avehiclefollowingcontrollerforhighly-actuatedvehicles 105 R.deCastro,A.Schaub,C.Satzger&J.Brembeck DistributedrecedinghorizoncontrolofaplatoonofmultipleCAVswithdiscontinuous-gear transmissions 111 S.E.Li,Y.Zheng,Y.Bian&K.Li Obstacleavoidancecontroldesign:Anexperimentalevaluationinvehicleplatooning 119 M.Alirezaei,E.Semsar-Kazerooni&J.Ploeg Automateddriving CollisionavoidancesystemusingstatedependentRiccatiequationtechnique: Anexperimentalrobustnessevaluation 127 M.Alirezaei,S.T.H.Jansen,A.J.C.Schmeitz&A.K.Madhusudhanan Autonomousdriftingwithonboardsensors 133 J.Gonzales,F.Zhang,K.Li&F.Borrelli Anewnonlinearmodelpredictivecontrolalgorithmforvehiclepathtracking 139 G.Schildbach Real-timeoptimalobstacleavoidanceofMGVusingmodifiedCarathéodory-π solutions 145 S.Watanabe&M.Harada Controltargetalgorithmfordirectioncontrolofautonomousvehiclesinconsiderationofmutual accordanceinmixedtrafficconditions 151 S.Kitazawa&T.Kaneko ImplementationofamodifiedHamiltonianalgorithmforcontrolallocation 157 Y.Gao,T.Gordon&M.Lidberg Designofanautomatedsteeringcontrollerwithsteeringactuatordynamicsandadaptive previewtime 163 B.-C.Chen,C.-T.Tsai,Y.-M.Lin&K.Lee Motionsicknessinautomatedvehicles 169 T.Wada Pathplanning Studyonupdatemethodofavoidancetrajectoryfortheautonomousfrontalobstacle avoidancesystem 177 S.Fujimori,H.Iwata&R.Hayashi Developmentofcollisionprobabilitybasedmotionplanningalgorithmforautomated drivingvehicles 183 J.Suh,B.Kim&K.Yi Autonomousvehicletrajectoryplanningandcontrolbasedonvirtualdisturbancecompensation viasimulationoffeedbackcontrolsystems 189 P.Raksincharoensak,T.Ehira,K.Shimono&Y.Tagawa Ahierarchicalcontrollerforpathplanningandpathfollowingbasedonmodel predictivecontrol 195 Q.Wang&S.Müller Roll-overpreventionandriskassessment Anovelcontrolmediationapproachtoactiverolloverprevention 203 D.Zhang,T.Gordon,Y.Gao,C.Zong&M.Lidberg VI Thenoiseofaccelerationsignalasanindicatorofthelossofcontrolrisk 209 C.Naude,T.Serre,M.Dubois-Lounis,J.-Y.Fournier&V.Ledoux Predictionbasedadvancedemergencybrakingforvulnerableroadusers 215 T.Kim,K.Park,K.Yi&K.Min Lateraldynamicsandoptimization Torsionalmomentrepresentationinlateralloadtransferequations 223 D.Srivastava Optimizingsuspensionsystemsforfeasibility,performanceandcost 229 J.Wimmler,M.Wahle,M.Zimmermann&D.Schramm Multi-objectivecooperativecontrolofvehiclestabilitywithelectrohydraulicbrake 235 Z.Jin,C.Wang,L.Zhang&A.Khajepour Stabilityandmodelling Straightaheadrunningofanonlinearcaranddrivermodel 243 F.DellaRossa,O.Sukharev&G.Mastinu Handlingandstabilitycontrolforanin-wheel-motor-drivenelectricvehicle 249 Y.Shi,H.Lu&F.Yu Real-timesimulationofelasto-kinematicmulti-bodyvehiclemodels 255 M.Klomp,P.Sundström&A.Johnsson Controlofavariable-geometrysuspensionasindependentwheelsteering 261 B.Németh,D.Fényes&P.Gáspár Simulatorandtest-rig Model-basedsteeringECUapplicationusingofflinesimulation(softwareintheloop) 269 M.Niegl,P.E.Pfeffer&A.Contini Controlsystemofawheel-based“auto.mobile-drivingsimulator” 275 T.Tüschen,S.Ernst,D.Beitelschmidt,G.Prokop&W.Tischer Tire-suspensionhardware-in-the-loopsimulationsystemcompensatingdelayoftestingmachine 281 T.Hosono,Y.Udagawa,S.Kawaguchi&T.Shiiba EvaluationofcoupledsuspensionsystemusingfourelectromagneticdampersbymotorHILSsystem 285 Y.Imai,Y.Fukumori,R.Hayashi,K.Nakano&Y.Suda Driver Investigationonthelanetrackingsteeringcontrolwithtwopreviewpointstomakepreview timeshorter 293 K.Nishizaki,H.Mouri,H.Furusho&P.Raksincharoensak Bayesiannetwork-basedidentificationofdriverlane-changingintentsusingeyetracking andvehicle-baseddata 299 X.H.Li,M.Rötting&W.S.Wang InfluenceofdifferentgroundtruthhypothesesonthequalityofBayesiannetworksformaneuver detectionandpredictionofdrivingbehavior 305 T.Rehder,L.Louis,W.Muenst&D.Schramm Drivingbehaviormodelingforavoidanceofroadrushingoutpedestriansinnon-intersectionareas 311 H.Imanaga,R.Iwaki,I.Yamaguchi&N.Uchida Modellingtheeffectofsensorydynamicsonadriver’scontrolofanonlinearvehicle 317 C.J.Nash&D.Cole Fundamentalstudyondrivermodelforlateralandlongitudinalcontroltoadvanceddriver assistancesystems 323 I.Kageyama,Y.Kuriyagawa&Y.Wang VII Modelpredictivecontroltorepresentinteractionofdriverandactiveacceleratorpedal 329 C.W.Rosier&D.Cole Inferringdriver’sdecelerationintentinvehicleplatoonsystembyusingfeedbackestimators 335 H.Suzuki,T.Ishikura&T.Nakatsuji Driver’ssteeringtorquemodelingbasedonlateraldeviationandreactiontorque 341 H.Yoshida,J.Yamakawa&T.Honjo Modellinghumansteeringbehaviouratthelimitofadhesionusingrobustnonlinearmodel predictivecontrol 345 G.Braghieri&D.Cole Askilllearningprocessmodelfordrivingacar 351 K.Togai,A.Ohno,T.Matsumoto&H.Tamaki Steering Invehicletrucksteering-systemmodelingandvalidation 359 J.Loof,I.Besselink&H.Nijmeijer Adesignofthelead-steerinactivefrontsteeringsystemusinglead-lagcompensator 365 J.Jung,R.Chung,J.Heo,J.Oh&J.Lee Theinfluenceoftimedelayonstabilityofthesteeringsimulator 371 Y.Jiang,W.Deng,J.Wu,S.Zhang&K.Zhang Studyonreactivesteeringtorquecontrolforbartypesteeringinhighspeedrange 377 S.Tamakawa,H.Tanabe,K.Sato,H.Mouri&P.Raksincharoensak Electricpowersteering H∞filteringdesignfordrivertorqueestimationinelectricpowersteeringsystem 385 K.Yamamoto,P.Moulaire,D.Koenig&O.Sename DesignofequivalentfrictionusingamotorcontrolforElectricPowerSteering(EPS) 391 S.Ohno&A.Yoneda Therelationshipbetweentheresonancefrequencyofasteeringsystemandthetire-road frictioncoefficient 397 L.Chen,Y.Luo,M.Bian,Z.Qin&K.Li Steer-by-wire/ADAS Upperboundsontheclosedloopsensitivityforthecontrolofasteer-by-wirevehicle 405 T.vanderSande,P.Zegelaar,I.Besselink&H.Nijmeijer Evaluationofhandlingperformanceinsteer-by-wirevehicle 411 F.Takagi,T.Shiiba,R.Ishizaki,K.Tamura&H.Hata Faultdetectionschemeforaroadvehiclewithfourindependentsingle-wheelelectric motorsandsteer-by-wiresystem 417 B.dosSantos,A.Lopes&R.E.Araújo Studyonactivesafetyforaquaplaningassistance 423 T.Raste&D.Frerichs Subjectiveevaluationandhandling Validationofamovingbasedrivingsimulatorforsubjectiveassessmentsofsteering feelandhandling 431 G.L.GilGómez,C.AnderssonEurenius,J.DonnayCortiñas,E.Bakker, M.Nybacka,L.Drugge&B.Jacobson Tirehandlingsubjectiveevaluationrelatedtomodelparametersofthreedrivermodels 437 S.Monsma,M.vanOort&P.Bremmer VIII Specialvehicles Intelligentbasedterrainpreviewcontrollerfora3-axlevehicle 445 J.T.Economou,D.J.Purdy,D.GalvãoWall,D.Diskett&D.Simner Optimalcontroloflateralstabilityforarticulatedheavyvehiclesbasedon adaptivedynamicprogrammingapproach 451 B.Li,S.Rakheja&Z.Fu MiniMax–asituationalandgeometricaladaptivechassis:Drivingsafetyandspaceefficiency 457 J.Kalbfleisch,P.Wagner&H.Winner Acascadedmodel-predictiveapproachtomotorcyclesafety 463 S.Hans,M.Krehel,M.Köbe&G.Prokop Database Geostatisticalmeta-modelingforamodel-basedcalibrationofanadaptiveshockabsorber 471 S.Blume,S.Reicherts,H.Koegeler,N.Didcock&T.Henn Predictivemodelingforvehicletime-seriesdata 477 J.Wallner,F.Diermeyer&S.Engel Studyoncooperativedrivingofautomateddrivingvehiclesviaspatialinformationserver 483 S.Okada,T.Hisamatsu&M.Omae Databaseofrelevanttrafficscenariosasatoolforthedevelopmentandvalidationof automateddriving 489 P.Themann,A.Pütz,A.Zlocki&L.Eckstein Stateestimation FullvehicleandtyreidentificationusingunscentedandextendedidentifyingKalmanfilters 497 M.C.Best&K.Bogdanski Model-basedstateestimatorforanintelligenttire 503 J.Goos,A.P.Teerhuis,A.J.C.Schmeitz,I.Besselink&H.Nijmeijer Nonlinearvehiclevelocityestimationwithfrictionadaptionforfour-wheel-independent-driveEVs 509 X.Xia,L.Xiong,B.Leng&Z.Yu UnscentedKalmanfilterforcombinedlongitudinalandlateralvehicledynamics 515 M.Wielitzka,S.Eicke,A.Busch,M.Dagen&T.Ortmaier Vehiclestateestimationfromasports-carapplicationpointofviewfocusingon handlingdynamics 521 M.Haudum,J.Edelmann,M.Plöchl&M.Höll Exploringdifferentvehiclemodelcomplexityforreferenceinasensorsignalprocessing modelcontroller 527 I.RamirezRuiz,M.Alirand,F.Cheli&E.Sabbioni Articulationangleestimationandcontrolforreversingarticulatedvehicles 533 S.Kim,J.Yang&K.Huh Tyreandfriction Frictionutilizationfortyre-roadfrictionestimationonsnow:Anexperimentalstudy 541 A.Albinsson,F.Bruzelius&B.Jacobson Wheelforcemeasurementforvehicledynamicscontrolusinganintelligentbearing 547 S.M.A.A.Kerst,B.Shyrokau&E.G.M.Holweg Theinfluenceoftiretransientpropertyonvehiclebehavior 553 T.Takahashi IX
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