Advanced Vehicle Control Proceedings of the 13th International Symposium on Advanced Vehicle Control, September 13-16, 2016, Munich, Germany

742 Pages·2017·73.486 MB·English

by  Johannes Edelmann, Manfred Plöchl, Peter E. Pfeffer

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
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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