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ABSTRACT: In this paper, the sedan size vehicle converted into the data acquisition test-bed and the human driver model development, decision making algorithm is presented. The data acquisition vehicle is built by assembling the necessary sensor sets to collect data from the human driver and from the environment. The main purpose is to contribute to the active safety in the intelligent transportation systems area by improving driver and driving prudence through signal processing and advanced information technologies. The expected deliverable of this data acquisition capable vehicle may be served along the human driver model development and decision making for intersection driving in order to reduce accidents on a real-time basis. Preliminary sensor setup and human driver modeling studies are presented by emphasizing the links between these two works.
Intelligent Transportation Systems Conference, 2007. ITSC 2007. IEEE; 11/2007
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ABSTRACT: Most studies so far on automated driving and semi-automated driving have been for highways. In this paper, we study a fairly restrictive scenario "stop and go" in city driving. We assume that slowing down and stopping will be accomplished by the automated system (adaptive cruise control). The starting and acceleration of the car will be controlled by the human driver. A simple human driver model is used to represent the reactions of the driver. The traffic flow consists of automated and manual controlled vehicles. A traffic simulator is developed to simulate the city driving scenario and various traffic flows. Both a totally isolated car (without cooperation) and then the possibility of cooperation through wireless with cars ahead are considered
American Control Conference, 2006; 07/2006
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IEE Proceedings - Intelligent Transport Systems 04/2006; 153(1):63- 75.
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ABSTRACT: Control and handling of heavy commercial vehicles carrying liquid cargo are influenced by moving liquid within the partially filled tank. During steering and braking maneuvering tasks, truck may exhibit unstable behavior at lateral acceleration levels of 0.3 g to 0.4 g [m/sec<sup>2</sup>]. The fluid slosh forces and dynamic load transfer in lateral and longitudinal directions and parameter variations, uncertainties caused by the moving liquid cargo affect the overall dynamics of the vehicle. The frequency shaped backstepping sliding mode algorithm, proposed by Acarman and Ozguner (2002), is designed to stabilize and attenuate the sloshing effects of the moving cargo by properly choosing the crossover frequencies of the dynamic compensators in accordance with the fundamental frequencies of the slosh dynamics.
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on; 07/2003
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ABSTRACT: Active safety of road transport requires, among other things, the improvement of road vehicle yaw stability by active control. One approach for yaw dynamics improvement is to use differential braking, thereby creating the moment that is necessary to counteract the undesired yaw motion. An alternative approach is to command additional steering angles to create the counteracting moment. The maximum benefit, of course, can be gained through coordinated and combined use of both methods of corrective yaw motion generation in a control strategy. This problem has been approached by using a revised model regulator here as the main controller that utilizes coordinated steering and individual wheel braking actuation, with the aim of achieving better vehicle yaw stability control. Independent use of the individual means of actuation are treated first. Possible strategies for combined and coordinated use of steering and individual wheel braking action in a vehicle yaw dynamics controller are then presented. Simulation results on a nonlinear two track vehicle model are used to illustrate the effectiveness of the coordinated approach.
Intelligent Vehicles Symposium, 2003. Proceedings. IEEE; 07/2003
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ABSTRACT: The Control Authority Transition (CAT) system project (supported by The OSU Center for Automotive Research and Intelligent Transportation Consortium) has led to emulation of the control authority transition algorithms in the physical half-car environment through The Ohio State Virtual Environment System (OSU-VES). By creation of the artificial traffic environment and possible accident hazards scenarios, the CAT system's interventions to the "inattentive" or "inadequate" drivers are under consideration. The development and improvement of the CAT, OSU-VES and half-car platform is a test-bed for the study of driver's perception-reaction time, behavior, driver-vehicle interactions, crash avoidance maneuvers, advanced safety systems, and Intelligent Transportation System technologies.
Intelligent Vehicles Symposium, 2003. Proceedings. IEEE; 07/2003
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ABSTRACT: In this paper, we propose an algorithm to solve the Nash equilibrium solution for an n-person noncooperative dynamic game by the extremum seeking control approach with sliding mode. For each player, a switching function is defined as the difference between the player's cost function and a reference signal. The extremum seeking controller for each player is designed so that the system converges to a sliding boundary layer defined in the vicinity of a sliding mode corresponding to the switching function and inside the boundary layer, the cost function tracks the reference signal and converges it to the Nash equilibrium solution.
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on; 01/2003
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ABSTRACT: In this paper, a sliding mode controller cascaded by the frequency shaped optimal controller for drive by wire hydraulic power steering system utilizing sliding mode and exponentially convergent observers is presented. Using the robustness implications of the sliding mode control theory and the structural properties of the hydraulic power steering system, a nonlinear controller cascaded by an optimal linear controller is designed to stabilize the steering system dynamics and track the steering wheel reference. Lyapunov based controller design satisfies strong robustness with respect to bounded modeling and parameter uncertainties. The controller and the observer are based on an eight-order nonlinear state-space model of the hydraulic power steering system which is developed, validated numerically with experimental data. Simulation results are included to demonstrate the effectiveness of the observer and the performance of the tracking controller.
American Control Conference, 2002. Proceedings of the 2002; 02/2002
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ABSTRACT: This paper presents a feedback linearization based variable
structure controller for a pneumatically actuated system utilizing
sliding mode observers. Using the robustness implications of the sliding
mode control theory and the structural properties of pneumatically
actuated systems, a nonlinear controller is designed to drive the output
tracking error to zero in finite time. Strong robustness with respect to
bounded modeling and parameter uncertainties is attained through
compensation of the friction effect of the piston in the cylinder body.
The controller and the observer are based on a third-order nonlinear
state-space model of a pneumatic system which was developed, validated
numerically with experimental data and presented by Acarman et al. (SAE,
2000-01). Simulation results are included to demonstrate the
effectiveness of the designed observer and the good performance of the
designed tracking controller
American Control Conference, 2001. Proceedings of the 2001; 02/2001
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ABSTRACT: Drivers differ significantly in their skill levels, driving
habits, capabilities and decisions especially when impaired by drugs,
fatigue or physical handicaps. Late or inadequate responses to hazards
and dangers may cause severe results. It may be possible to improve the
ability of a driver to operate a vehicle safely if certain parameters in
the control of the vehicle axe adjusted according to the driver's normal
characteristics. Value has already been established for tailoring
certain attributes such as seat, pedals, steering wheel position and
mirrors to a given driver through memory functions. This research
concentrates on assessing a driver's operating characteristics and
modifying the control of the vehicle to improve safe operation of the
vehicle on a real-time basis
Intelligent Transportation Systems, 2001. Proceedings. 2001 IEEE; 02/2001
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ABSTRACT: This paper explains the nonstandard safety technology which
assists drivers to enhance drive safely when the driver is
physiologically impaired, for example, drunk, fatigued, irritable,
asleep, etc. When a driver operates a vehicle with some actions which
may not result in an accident immediately but may reveal that the driver
is drunk, fatigued, or asleep, the non-standard safety enhancement
system makes a decision from the actions to determine whether the driver
is physiologically impaired based on the available information of
vehicle, road, and others before the driver causes an accident
Intelligent Transportation Systems, 2001. Proceedings. 2001 IEEE; 02/2001
