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Author: Changzhu Zhang
Publisher: OAE Publishing Inc.
ISBN:
Category : Computers
Languages : en
Pages : 20
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Book Description
Adaptive cruise control is one of the essential technologies of advanced driver assistance systems, which is used to maintain a safe distance between an ego vehicle and a preceding vehicle and has been extensively applied in the automotive industry and control community. Note that some vehicle manoeuvres may approach handling limits to prevent collisions under complex road conditions, which often leads to vehicle lateral instability while cruising. In this study, a T-S fuzzy model predictive control framework is applied to the problem of adaptive cruise control. Variations in the preceding vehicle velocity and road surface conditions are considered to formulate adaptive cruise control as a tracking control problem of a T-S fuzzy system subject to parameter uncertainties and external persistent perturbations. Then, a robust positively invariant set is introduced to derive an admissible T-S fuzzy controller by solving a min-max optimization problem under a series of linear matrix inequality constraints. Finally, a CarSim/MATLAB joint simulation is conducted to illustrate the effectiveness of the proposed method, which ensures longitudinal adaptive cruise control for a car-following scenario with lateral vehicle stability.
Author: Changzhu Zhang
Publisher: OAE Publishing Inc.
ISBN:
Category : Computers
Languages : en
Pages : 20
Get Book Here
Book Description
Adaptive cruise control is one of the essential technologies of advanced driver assistance systems, which is used to maintain a safe distance between an ego vehicle and a preceding vehicle and has been extensively applied in the automotive industry and control community. Note that some vehicle manoeuvres may approach handling limits to prevent collisions under complex road conditions, which often leads to vehicle lateral instability while cruising. In this study, a T-S fuzzy model predictive control framework is applied to the problem of adaptive cruise control. Variations in the preceding vehicle velocity and road surface conditions are considered to formulate adaptive cruise control as a tracking control problem of a T-S fuzzy system subject to parameter uncertainties and external persistent perturbations. Then, a robust positively invariant set is introduced to derive an admissible T-S fuzzy controller by solving a min-max optimization problem under a series of linear matrix inequality constraints. Finally, a CarSim/MATLAB joint simulation is conducted to illustrate the effectiveness of the proposed method, which ensures longitudinal adaptive cruise control for a car-following scenario with lateral vehicle stability.
Author: Chi-Ying Liang
Publisher:
ISBN:
Category :
Languages : en
Pages : 256
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Book Description
Author: Zeeshan Ali
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Traffic congestion is an important reason for driver frustration which in turn is the main cause of human errors and accidents. Statistics reports have shown that over 90% of accidents are caused by human errors. Therefore, it is vital to improve vehicle controls to ensure adequate safety measures in order to decrease the number of accidents or to reduce the impact of accidents. An application of mathematical control techniques to the longitudinal dynamics of a vehicle equipped with an adaptive cruise control (ACC) system is presented. This study is carried out for the detailed understanding of a complex ACC vehicle model under critical transitional manoeuvres (TMs) in order to establish safe inter-vehicle distance with zero range-rate (relative velocity) behind a preceding vehicle. TMs are performed under the influence of internal complexities from vehicle dynamics and within constrained operation boundaries. The constrained boundaries refer to the control input, states, and collision avoidance constraints. The ACC vehicle is based on a nonlinear longitudinal model that includes vehicle inertial and powertrain dynamics. The overall system modelling includes: complex vehicle models, engine maps construction, first-order vehicle modelling, controllers modelling (upper-level and lower-level controllers for ACC vehicles). The upper-level controller computes the desired acceleration commands for the lower-lever controller which then provides the throttle/brake commands for the complex vehicle model. An important aspect of this study is to compare four control strategies: proportional-integral-derivative; sliding mode; constant-time-gap; and, model predictive control for the upper-level controller analysis using a first-order ACC vehicle model. The first-order model represents the lags in the vehicle actuators and sensor signal processing and it does not consider the dynamic effects of the vehicle's sub-models. Furthermore, parameter analyses on the complex ACC vehicle for controller and vehicle parameters have been conducted. The comparison analysis of the four control strategies shows that model predictive control (MPC) is the most appropriate control strategy for upper-level control because it solves the optimal control problem on-line, rather than off-line, for the current states of the system using the prediction model, at the same time being able to take into account operation constraints. The analysis shows that the complex ACC vehicle can successfully execute TMs, tracking closely the desired acceleration and obeying the constraints, whereas the constraints are only applied in the MPC controller formulation. It is found that a higher length of the prediction horizon should be used for a closed acceleration tracking. The effect of engine and transmission dynamics on the MPC controller and ACC vehicle performance during the gear shifting is studied. A sensitivity analysis for MPC controller and vehicle parameters indicates that a length of the control horizon that is too high can seriously disturb the vehicle behaviour, and this disturbance can be only removed if a higher value of control input cost weighting is used. Furthermore, the analysis indicates that a mass within the range of 1400-2000 kg is suitable for the considered ACC vehicle. It is recommended that a variable headway time should be used for the spacing control between the two vehicles. It is found that the vehicle response is highly sensitive to the control input cost weighting; a lower value (less than one) can lead to a highly unstable vehicle response. It is recommended that the lower-level controller must take into account the road gradient information because the complex ACC vehicle is unable to achieve the control objectives while following on a slope. Based on the results, it is concluded that a first-order ACC vehicle model can be used for the controller design, but it is not sufficient to capture the complex vehicle dynamic response. Therefore, a complex vehicle model should be of use for the detailed ACC vehicle analysis. In this research study the first-order ACC vehicle model is used for the complex vehicle validation, whereas the complex ACC vehicle model can be used for the experimental validation in future work.
Author: Dieter Schramm
Publisher: Springer
ISBN: 354036045X
Category : Technology & Engineering
Languages : en
Pages : 417
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Book Description
The authors examine in detail the fundamentals and mathematical descriptions of the dynamics of automobiles. In this context different levels of complexity will be presented, starting with basic single-track models up to complex three-dimensional multi-body models. A particular focus is on the process of establishing mathematical models on the basis of real cars and the validation of simulation results. The methods presented are explained in detail by means of selected application scenarios.
Author: Robert John
Publisher: Springer
ISBN: 331972892X
Category : Technology & Engineering
Languages : en
Pages : 152
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Book Description
This book explores recent perspectives on type-2 fuzzy sets. Written as a tribute to Professor Jerry Mendel for his pioneering works on type-2 fuzzy sets and systems, it covers a wide range of topics, including applications to the Go game, machine learning and pattern recognition, as well as type-2 fuzzy control and intelligent systems. The book is intended as a reference guide for the type-2 fuzzy logic community, yet it aims also at other communities dealing with similar methods and applications.
Author: Rajesh Rajamani
Publisher: Springer Science & Business Media
ISBN: 1461414326
Category : Technology & Engineering
Languages : en
Pages : 516
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Book Description
Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.
Author: Anke Meyer-Baese
Publisher: Elsevier
ISBN: 0124166156
Category : Technology & Engineering
Languages : en
Pages : 467
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Book Description
Medical imaging is one of the heaviest funded biomedical engineering research areas. The second edition of Pattern Recognition and Signal Analysis in Medical Imaging brings sharp focus to the development of integrated systems for use in the clinical sector, enabling both imaging and the automatic assessment of the resultant data. Since the first edition, there has been tremendous development of new, powerful technologies for detecting, storing, transmitting, analyzing, and displaying medical images. Computer-aided analytical techniques, coupled with a continuing need to derive more information from medical images, has led to a growing application of digital processing techniques in cancer detection as well as elsewhere in medicine. This book is an essential tool for students and professionals, compiling and explaining proven and cutting-edge methods in pattern recognition for medical imaging. - New edition has been expanded to cover signal analysis, which was only superficially covered in the first edition - New chapters cover Cluster Validity Techniques, Computer-Aided Diagnosis Systems in Breast MRI, Spatio-Temporal Models in Functional, Contrast-Enhanced and Perfusion Cardiovascular MRI - Gives readers an unparalleled insight into the latest pattern recognition and signal analysis technologies, modeling, and applications
Author: Ümit Özgüner
Publisher: Artech House
ISBN: 1608071936
Category : Technology & Engineering
Languages : en
Pages : 289
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Book Description
In the near future, we will witness vehicles with the ability to provide drivers with several advanced safety and performance assistance features. Autonomous technology in ground vehicles will afford us capabilities like intersection collision warning, lane change warning, backup parking, parallel parking aids, and bus precision parking. Providing you with a practical understanding of this technology area, this innovative resource focuses on basic autonomous control and feedback for stopping and steering ground vehicles.Covering sensors, estimation, and sensor fusion to percept the vehicle motion and surrounding objects, this unique book explains the key aspects that makes autonomous vehicle behavior possible. Moreover, you find detailed examples of fusion and Kalman filtering. From maps, path planning, and obstacle avoidance scenarios...to cooperative mobility among autonomous vehicles, vehicle-to-vehicle communication, and vehicle-to-infrastructure communication, this forward-looking book presents the most critical topics in the field today.
Author: Cécile Appert-Rolland
Publisher: Springer Science & Business Media
ISBN: 3540770747
Category : Mathematics
Languages : en
Pages : 758
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Book Description
Covers several research fields dealing with transport. This work covers three main topics including road traffic, granular matter, and biological transport. It considers different points of views including modelling, simulations, experiments, and phenomenological observations.
Author: Wolfgang Böhm
Publisher: Springer Nature
ISBN: 3030621367
Category : Computers
Languages : en
Pages : 404
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Book Description
This Open Access book presents the results of the "Collaborative Embedded Systems" (CrESt) project, aimed at adapting and complementing the methodology underlying modeling techniques developed to cope with the challenges of the dynamic structures of collaborative embedded systems (CESs) based on the SPES development methodology. In order to manage the high complexity of the individual systems and the dynamically formed interaction structures at runtime, advanced and powerful development methods are required that extend the current state of the art in the development of embedded systems and cyber-physical systems. The methodological contributions of the project support the effective and efficient development of CESs in dynamic and uncertain contexts, with special emphasis on the reliability and variability of individual systems and the creation of networks of such systems at runtime. The project was funded by the German Federal Ministry of Education and Research (BMBF), and the case studies are therefore selected from areas that are highly relevant for Germany’s economy (automotive, industrial production, power generation, and robotics). It also supports the digitalization of complex and transformable industrial plants in the context of the German government's "Industry 4.0" initiative, and the project results provide a solid foundation for implementing the German government's high-tech strategy "Innovations for Germany" in the coming years.
