Estimation of car-following safety : application to the design of intelligent cruise control

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1996.Includes bibliographical references (leaves 101-102).by Shih-Ken Chen.Ph.D

Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments

© SAE, Athari, A., Fallah, S., Li, B., Khajepour, A. et al., "Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments," SAE Int. J. Commer. Veh. 6(1):82-92, 2013, doi:10.4271/2013-01-0674.This paper presents the implementation of an off-line optimized torque vectoring controller on an electric-drive vehicle with four in-wheel motors for driver assistance and handling performance enhancement. The controller takes vehicle longitudinal, lateral, and yaw acceleration signals as feedback using the concept of state-derivative feedback control. The objective of the controller is to optimally control the vehicle motion according to the driver commands. Reference signals are first calculated using a driver command interpreter to accurately interpret what the driver intends for the vehicle motion. The controller then adjusts the braking/throttle outputs based on discrepancy between the vehicle response and the interpreter command. A test vehicle equipped with four in-wheel electric motors, vehicle sensors, communication buses, and dSPACE rapid prototyping hardware is instrumented and the control performance is verified through vehicle handling tests under different driving conditions.Automotive Partnership CanadaOntario Research FundGeneral Motor

Real-time estimation of the road bank and grade angles with unknown input observers

This is an Accepted Manuscript of an article published by Taylor & Francis in Vehicle System Dynamics on 2017-01-24, available online: http://dx.doi.org/10.1080/00423114.2016.1275706This paper proposes an approach for the estimation of the road angles independent from the road friction conditions. The method employs unknown input observers on the roll and pitch dynamics of the vehicle. The correlation between the road angle rates and the pitch/roll rates of the vehicle is also investigated to increase the accuracy. Dynamic fault thresholds are implemented in the algorithm to ensure reliable estimation of the vehicle body and road angles. Performance of the proposed approach in reliable estimation of the road angles is experimentally demonstrated through vehicle road tests. Road test experiments include various driving scenarios on different road conditions to thoroughly validate the proposed approach

Optimal Sensor Configuration and Fault-Tolerant Estimation of Vehicle States

© SAE, Zarringhalam, R., Rezaeian, A., Fallah, S., Khajepour, A. et al., "Optimal Sensor Configuration and Fault-Tolerant Estimation of Vehicle States," SAE Int. J. Passeng. Cars – Electron. Electr. Syst. 6(1):83-92, 2013, doi:10.4271/2013-01-0175.This paper discusses observability of the vehicle states using different sensor configurations as well as fault-tolerant estimation of these states. The optimality of the sensor configurations is assessed through different observability measures and by using a 3-DOF linear vehicle model that incorporates yaw, roll and lateral motions of the vehicle. The most optimal sensor configuration is adopted and an observer is designed to estimate the states of the vehicle handling dynamics. Robustness of the observer against sensor failure is investigated. A fault-tolerant adaptive estimation algorithm is developed to mitigate any possible faults arising from the sensor failures. Effectiveness of the proposed fault-tolerant estimation scheme is demonstrated through numerical analysis and CarSim simulation.Automotive Partnership CanadaOntario Research Fun

LONGITUDINAL TIRE FORCE ESTIMATION WITH UNKNOWN INPUT OBSERVER

ABSTRACT This paper presents the development of a longitudinal tire force estimation algorithm. Rather than using highly nonlinear tire-road friction models, we propose a decentralized estimation algorithm which treats the longitudinal tire force of the individual wheel as an unknown input signal for the one-DOF wheel dynamic model. Two types of unknown input observers are designed to estimate the longitudinal tire force based on the wheel speed measurement in this study. To make the estimated tire force signals also satisfy the longitudinal dynamic model of the vehicle, the estimation results of the unknown input observer are integrated with the longitudinal acceleration measurement by using a projection method

A Potential Field-Based Model Predictive Path-Planning Controller for Autonomous Road Vehicles

© IEEE 2017. Rasekhipour, Y., Khajepour, A., Chen, S.-K., & Litkouhi, B. (2016). A Potential Field-Based Model Predictive Path-Planning Controller for Autonomous Road Vehicles. IEEE Transactions on Intelligent Transportation Systems, 18(5), 1255–1267. https://doi.org/10.1109/TITS.2016.2604240Artificial potential fields and optimal controllers are two common methods for path planning of autonomous vehicles. An artificial potential field method is capable of assigning different potential functions to different types of obstacles and road structures and plans the path based on these potential functions. It does not, however, include the vehicle dynamics in the path-planning process. On the other hand, an optimal path-planning controller integrated with vehicle dynamics plans an optimal feasible path that guarantees vehicle stability in following the path. In this method, the obstacles and road boundaries are usually included in the optimal control problem as constraints and not with any arbitrary function. A model predictive path-planning controller is introduced in this paper such that its objective includes potential functions along with the vehicle dynamics terms. Therefore, the path-planning system is capable of treating different obstacles and road structures distinctly while planning the optimal path utilizing vehicle dynamics. The path-planning controller is modeled and simulated on a CarSim vehicle model for some complicated test scenarios. The results show that, with this path-planning controller, the vehicle avoids the obstacles and observes road regulations with appropriate vehicle dynamics. Moreover, since the obstacles and road regulations can be defined with different functions, the path-planning system plans paths corresponding to their importance and priorities

Increasing utilization of Internet-based resources following efforts to promote evidence-based medicine: a national study in Taiwan

BACKGROUND: Since the beginning of 2007, the National Health Research Institutes has been promoting the dissemination of evidence-based medicine (EBM). The current study examined longitudinal trends of behaviors in how hospital-based physicians and nurses have searched for medical information during the spread of EBM. METHODS: Cross-sectional postal questionnaire surveys were conducted in nationally representative regional hospitals of Taiwan thrice in 2007, 2009, and 2011. Demographic data were gathered concerning gender, age, working experience, teaching appointment, academic degree, and administrative position. Linear and logistic regression models were used to examine predictors and changes over time. RESULTS: Data from physicians and nurses were collected in 2007 (n = 1156), 2009 (n = 2975), and 2011 (n = 3999). There were significant increases in the use of four Internet-based resources – Web portals, online databases, electronic journals, and electronic books – across the three survey years among physicians and nurses (p < 0.001). Access to textbooks and printed journals, however, did not change over the 4-year study period. In addition, there were significant relationships between the usage of Internet-based resources and users’ characteristics. Age and faculty position were important predictors in relation to the usage among physicians and nurses, while academic degree served as a critical factor among nurses only. CONCLUSIONS: Physicians and nurses used a variety of sources to look for medical information. There was a steady increase in use of Internet-based resources during the diffusion period of EBM. The findings highlight the importance of the Internet as a prominent source of medical information for main healthcare professionals

Vehicle Handling and Stability Enhancement with Active Steering Control Systems

ABSTRACT This paper presents an analysis and comparison of a vehicle with active front steering and rear-wheel steering. Based on linear analysis of base vehicle characteristics under varying speed and road surfaces, desirable vehicle response characteristics are presented and a set of performance matrices for active steering systems is formulated. Using poleplacement approach, controllability issues under active front wheel steering and rear-wheel steering controls are discussed. A frequency response optimization approach is then used to design the closed-loop controllers