# Advanced Vehicle Control

DOI link for Advanced Vehicle Control

Advanced Vehicle Control book

# Advanced Vehicle Control

DOI link for Advanced Vehicle Control

Advanced Vehicle Control book

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The AVEC symposium is a leading international conference in the fields of vehicle dynamics and advanced vehicle control, bringing together scientists and engineers from academia and automotive industry. The first symposium was held in 1992 in Yokohama, Japan. Since then, biennial AVEC symposia have been established internationally and have considerably contributed to the progress of technology in automotive research and development. In 2016 the 13th International Symposium on Advanced Vehicle Control (AVEC’16) was held in Munich, Germany, from 13th to 16th of September 2016. The symposium was hosted by the Munich University of Applied Sciences.

AVEC’16 puts a special focus on automatic driving, autonomous driving functions and driver assist systems, integrated control of interacting control systems, controlled suspension systems, active wheel torque distribution, and vehicle state and parameter estimation.

132 papers were presented at the symposium and are published in these proceedings as full paper contributions. The papers review the latest research developments and practical applications in highly relevant areas of vehicle control, and may serve as a reference for researchers and engineers.

## TABLE OF CONTENTS

part 101|28 pages

Advanced concepts of integrated tyre force control

chapter 101|8 pages

#### Development of vehicle dynamics characteristics using modern chassis systems for body control depending on the vehicle concept

chapter 102|8 pages

#### Optimization-based analysis of active suspension authority within integrated vehicle dynamics control systems

chapter 103|6 pages

#### Energy efficient torque vectoring control

chapter 104|6 pages

#### Steering redundancy for self-driving vehicles using differential braking

part 102|62 pages

Adas

chapter 105|8 pages

#### Risk predictive safe speed control for collision avoidance in right turn dynamic environment situation

chapter 106|6 pages

#### Speed control for reduced risk of collision with oncoming vehicles in obstacle avoidance scenarios

chapter 107|6 pages

#### Torque-based steering assistance for collision avoidance during lane changes

chapter 108|6 pages

#### Enhancing path tracking performance by using haptic shared steering control combined with DYC

chapter 109|6 pages

#### Evaluation of an evasive manoeuvre assistance system at imminent side collisions

chapter 110|6 pages

#### Generalized predictive control based on vehicle path following strategy by using active steering system

chapter 111|6 pages

#### Target & control based lane keeping assistance system with center error correction algorithm

chapter 112|6 pages

#### Adaptation of ADAS-functions by identifying driver fingerprint

chapter 113|6 pages

#### DrivingCube – A novel concept for validation of powertrain and steering systems with automated driving

chapter 114|6 pages

#### Close to reality surrounding model for virtual testing of autonomous driving and ADAS

part 103|34 pages

Vehicle following

chapter 115|7 pages

#### Autonomous cruise control with cut-in target vehicle detection

chapter 116|6 pages

#### Padé approximation of delays in CACC-controlled string-stable platoons

chapter 117|6 pages

#### A vehicle following controller for highly-actuated vehicles

chapter 118|8 pages

#### Distributed receding horizon control of a platoon of multiple CAVs with discontinuous-gear transmissions

chapter 119|6 pages

#### Obstacle avoidance control design: An experimental evaluation in vehicle platooning

part 104|50 pages

Automated driving

chapter 120|8 pages

#### Collision avoidance system using state dependent Riccati equation technique: An experimental robustness evaluation

chapter 121|6 pages

#### Autonomous drifting with onboard sensors

chapter 122|6 pages

#### A new nonlinear model predictive control algorithm for vehicle path tracking

chapter 123|7 pages

#### Real-time optimal obstacle avoidance of MGV using modified Carathéodory-π solutions

chapter 124|6 pages

#### Control target algorithm for direction control of autonomous vehicles in consideration of mutual accordance in mixed traffic conditions

chapter 125|6 pages

#### Implementation of a modified Hamiltonian algorithm for control allocation

chapter 126|6 pages

#### Design of an automated steering controller with steering actuator dynamics and adaptive preview time

part 105|26 pages

Path planning

chapter 128|8 pages

#### Study on update method of avoidance trajectory for the autonomous frontal obstacle avoidance system

chapter 129|6 pages

#### Development of collision probability based motion planning algorithm for automated driving vehicles

chapter 130|6 pages

#### Autonomous vehicle trajectory planning and control based on virtual disturbance compensation via simulation of feedback control systems

chapter 131|6 pages

#### A hierarchical controller for path planning and path following based on model predictive control

part 106|20 pages

Roll-over prevention and risk assessment

chapter 132|8 pages

#### A novel control mediation approach to active rollover prevention

chapter 133|6 pages

#### The noise of acceleration signal as an indicator of the loss of control risk

chapter 134|6 pages

#### Prediction based advanced emergency braking for vulnerable road users

part 107|20 pages

Lateral dynamics and optimization

chapter 135|8 pages

#### Torsional moment representation in lateral load transfer equations

chapter 136|6 pages

#### Optimizing suspension systems for feasibility, performance and cost

chapter 137|6 pages

#### Multi-objective cooperative control of vehicle stability with electro hydraulic brake

part 108|26 pages

Stability and modelling

chapter 138|8 pages

#### Straight ahead running of a non linear car and driver model

chapter 139|6 pages

#### Handling and stability control for an in-wheel-motor-driven electric vehicle

chapter 140|6 pages

#### Real-time simulation of elasto-kinematic multi-body vehicle models

chapter 141|6 pages

#### Control of a variable-geometry suspension as independent wheel steering

part 109|24 pages

Simulator and test-rig

chapter 142|8 pages

#### Model-based steering ECU application using offline simulation (software in the loop)

chapter 143|6 pages

#### Control system of a wheel-based “auto.mobile-driving simulator”

chapter 144|4 pages

#### Tire-suspension hardware-in-the-loop simulation system compensating delay of testing machine

chapter 145|6 pages

#### Evaluation of coupled suspension system using four electromagnetic dampers by motor HILS system

part 110|66 pages

Driver

chapter 146|8 pages

#### Investigation on the lane tracking steering control with two preview points to make preview time shorter

chapter 147|6 pages

#### Bayesian network-based identification of driver lane-changing intents using eye tracking and vehicle-based data

chapter 148|6 pages

#### Influence of different ground truth hypotheses on the quality of Bayesian networks for maneuver detection and prediction of driving behavior

chapter 149|6 pages

#### Driving behavior modeling for avoidance of road rushing out pedestrians in non-intersection areas

chapter 150|6 pages

#### Modelling the effect of sensory dynamics on a driver’s control of a nonlinear vehicle

chapter 151|6 pages

#### Fundamental study on driver model for lateral and longitudinal control to advanced driver assistance systems

chapter 152|6 pages

#### Model predictive control to represent interaction of driver and active accelerator pedal

chapter 153|6 pages

#### Inferring driver’s deceleration intent in vehicle platoon system by using feedback estimators

chapter 154|4 pages

#### Driver’s steering torque modeling based on lateral deviation and reaction torque

chapter 155|6 pages

#### Modelling human steering behaviour at the limit of adhesion using robust nonlinear model predictive control

chapter 156|6 pages

#### A skill learning process model for driving a car

part 111|26 pages

Steering

chapter 157|8 pages

#### In vehicle truck steering-system modeling and validation

chapter 158|6 pages

#### A design of the lead-steer in active front steering system using lead-lag compensator

chapter 159|6 pages

#### The influence of time delay on stability of the steering simulator

chapter 160|6 pages

#### Study on reactive steering torque control for bar type steering in high speed range

part 112|20 pages

Electric power steering

chapter 161|8 pages

#### H ∞ filtering design for driver torque estimation in electric power steering system

chapter 162|6 pages

#### Design of equivalent friction using a motor control for Electric Power Steering (EPS)

chapter 163|6 pages

#### The relationship between the resonance frequency of a steering system and the tire-road friction coefficient

part 113|26 pages

Steer-by-wire/ADAS

chapter 164|8 pages

#### Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle

chapter 165|6 pages

#### Evaluation of handling performance in steer-by-wire vehicle

chapter 166|6 pages

#### Fault detection scheme for a road vehicle with four independent single-wheel electric motors and steer-by-wire system

part 114|14 pages

Subjective evaluation and handling

chapter 168|8 pages

#### Validation of a moving base driving simulator for subjective assessments of steering feel and handling

chapter 169|6 pages

#### Tire handling subjective evaluation related to model parameters of three driver models

part 115|26 pages

Special vehicles

chapter 170|8 pages

#### Intelligent based terrain preview controller for a 3-axle vehicle

chapter 171|6 pages

#### Optimal control of lateral stability for articulated heavy vehicles based on adaptive dynamic programming approach

chapter 172|6 pages

#### MiniMax — a situational and geometrical adaptive chassis: Driving safety and space efficiency

chapter 173|6 pages

#### A cascaded model-predictive approach to motorcycle safety

part 116|26 pages

Database

chapter 174|8 pages

#### Geostatistical meta-modeling for a model-based calibration of an adaptive shock absorber

chapter 175|6 pages

#### Predictive modeling for vehicle time-series data

chapter 176|6 pages

#### Study on cooperative driving of automated driving vehicles via spatial information server

chapter 177|6 pages

#### Database of relevant traffic scenarios as a tool for the development and validation of automated driving

part 117|44 pages

State estimation

chapter 178|8 pages

#### Full vehicle and tyre identification using unscented and extended identifying Kalman filters

chapter 179|6 pages

#### Model-based state estimator for an intelligent tire

chapter 180|6 pages

#### Nonlinear vehicle velocity estimation with friction adaption for four-wheel-independent-drive EVs

chapter 181|6 pages

#### Unscented Kalman filter for combined longitudinal and lateral vehicle dynamics

chapter 182|6 pages

#### Vehicle state estimation from a sports-car application point of view focusing on handling dynamics

chapter 183|6 pages

#### Exploring different vehicle model complexity for reference in a sensor signal processing model controller

chapter 184|6 pages

#### Articulation angle estimation and control for reversing articulated vehicles

part 118|26 pages

Tyre and friction

chapter 185|8 pages

#### Friction utilization for tyre-road friction estimation on snow: An experimental study

chapter 186|6 pages

#### Wheel force measurement for vehicle dynamics control using an intelligent bearing

chapter 188|6 pages

#### Estimation of tire road friction during vehicle steering

part 119|26 pages

Longitudinal dynamics

chapter 189|8 pages

#### Adaptive anti-slip regulation method for distributed drive electric vehicle

chapter 190|6 pages

#### Perceptible changes in driving dynamics due to regenerative braking: Analysis and reduction through active chassis systems

chapter 191|6 pages

#### A development of nonlinear adaptive ABS control using optimal slip tracker

chapter 192|6 pages

#### Integration of torque blending and slip control using real-time nonlinear model predictive control

part 120|26 pages

Torque/G-Vectoring

chapter 193|8 pages

#### Study of mechanism improving target course traceability in G-Vectoring Control

chapter 194|6 pages

#### Development of G-Vectoring Control system based on engine torque control

chapter 195|6 pages

#### Effect of yaw-moment control based on lateral jerk information on lane change task

chapter 196|6 pages

#### Model predictive control for active drive-torque distribution during a slalom manouevre

part 121|26 pages

Torque vectoring

chapter 197|8 pages

#### Evaluation of optimal yaw rate reference for electric vehicle torque vectoring

chapter 198|5 pages

#### Inversion based feedforward design to improve the lateral dynamics of high performance sports cars

chapter 199|6 pages

#### Efficient direct yaw moment control of in-wheel motor vehicle

chapter 200|6 pages

#### Torque vectoring control for different powertrain layouts of hybrid and electric vehicles

part 122|28 pages

Vertical dynamics

chapter 201|8 pages

#### A study on invariant points of semi-active suspension

chapter 202|6 pages

#### Dynamic sensitivity analysis of a suspension model

chapter 203|6 pages

#### Improvement of ride comfort by unsprung negative skyhook damper control using in-wheel motors

chapter 204|8 pages

#### Nonlinear 𝛨2 control of a low-bandwidth active vehicle suspension system using Takagi-Sugeno methods

part 123|39 pages

Powertrain

chapter 205|8 pages

#### Optimal design of hybrid track-type dozers with two-planetary gear sets and clutches

chapter 206|6 pages

#### Upshift control strategy for dual clutch transmission with single clutch’s slipping

chapter 207|6 pages

#### Predictive energy management of hybrid powertrains using deterministic and Markov chain predictions

chapter 208|6 pages

#### Adaptive power management strategy for a four-mode plug-in hybrid electric vehicle

chapter 209|6 pages

#### Reduced order propulsion models for vehicle control and energy management

chapter 210|8 pages

#### Modeling hydro mounts in vehicles for durability load analyses, ride comfort and vehicle dynamics simulation

part 124|12 pages

Energy efficiency