Pub Date : 2019-05-17DOI: 10.1504/IJVAS.2019.10021444
T. Sun, Xuwei Gong, Bin Li, Jian Wu
Aiming for improving the handling and stability performance of all-wheel-drive (AWD) vehicles, a novel torque vectoring system (TV) is proposed in this paper by distributing engine torque to the front and rear axles as well as transmitting the torque between the two rear wheels. Unlike brake-based control system such as electronic stability control (ESC), the TV system can extend the cornering stability limit without interference with the vehicle longitudinal dynamics, thus improve the vehicle stability while making the handling feel smooth and consistent. Torque vectoring control strategy is developed to allocate torque to each wheel under different driving conditions. LQR controller is designed to generate the corrective yaw moment. Simulations were firstly conducted to validate the effectiveness of this system. And then a scaled vehicle is built based on dynamic similarity of the Buckingham Pi theorem to further verify the proposed TV system. Compared with a conventional AWD vehicle with open differentials, the vehicle with the proposed TV system shows better understeer characteristics and increases the maximum level of lateral acceleration.
{"title":"A novel torque vectoring system for enhancing vehicle stability","authors":"T. Sun, Xuwei Gong, Bin Li, Jian Wu","doi":"10.1504/IJVAS.2019.10021444","DOIUrl":"https://doi.org/10.1504/IJVAS.2019.10021444","url":null,"abstract":"Aiming for improving the handling and stability performance of all-wheel-drive (AWD) vehicles, a novel torque vectoring system (TV) is proposed in this paper by distributing engine torque to the front and rear axles as well as transmitting the torque between the two rear wheels. Unlike brake-based control system such as electronic stability control (ESC), the TV system can extend the cornering stability limit without interference with the vehicle longitudinal dynamics, thus improve the vehicle stability while making the handling feel smooth and consistent. Torque vectoring control strategy is developed to allocate torque to each wheel under different driving conditions. LQR controller is designed to generate the corrective yaw moment. Simulations were firstly conducted to validate the effectiveness of this system. And then a scaled vehicle is built based on dynamic similarity of the Buckingham Pi theorem to further verify the proposed TV system. Compared with a conventional AWD vehicle with open differentials, the vehicle with the proposed TV system shows better understeer characteristics and increases the maximum level of lateral acceleration.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44512766","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-17DOI: 10.1504/IJVAS.2019.10021435
D. Chandy, Biji Yohannan, A. Christinal, Riju Ghosh
Autonomous vehicles are used for a range of tasks, such as automated highway driving, transporting work, etc. These vehicles are used both in structured and unstructured environments. This work presents an effective method for path detection using statistical texture features extracted from fused LIDAR sensor and visual camera images. An edge-based feature detection approach is adopted for image registration. The Grey Level Co-occurrence Matrix (GLCM)-based texture features are extracted from the fused image. Classification performance of K-NN and Support Vector Machine (SVM) classifiers are analysed in this work. For experimentation, the data available in Ford Campus Vision data set are used. The results of this new approach are very promising for path detection problem of unmanned ground vehicles.
{"title":"Drivable path detection based on image fusion for unmanned ground vehicles","authors":"D. Chandy, Biji Yohannan, A. Christinal, Riju Ghosh","doi":"10.1504/IJVAS.2019.10021435","DOIUrl":"https://doi.org/10.1504/IJVAS.2019.10021435","url":null,"abstract":"Autonomous vehicles are used for a range of tasks, such as automated highway driving, transporting work, etc. These vehicles are used both in structured and unstructured environments. This work presents an effective method for path detection using statistical texture features extracted from fused LIDAR sensor and visual camera images. An edge-based feature detection approach is adopted for image registration. The Grey Level Co-occurrence Matrix (GLCM)-based texture features are extracted from the fused image. Classification performance of K-NN and Support Vector Machine (SVM) classifiers are analysed in this work. For experimentation, the data available in Ford Campus Vision data set are used. The results of this new approach are very promising for path detection problem of unmanned ground vehicles.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41560929","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-17DOI: 10.1504/IJVAS.2019.10021434
A. Norouzi, R. Kazemi, Omid Reza Abbassi
Automatic lane change is of utmost importance in designing autonomous vehicles and driver assistant systems. In this study, a novel path for lane change manoeuvres, based on mathematical functions, is introduced. To obtain a suitable path for lane change manoeuvres, four functions, namely quintic, septic, sinusoidal, and tangent functions, were examined. The analysis revealed that, according to the ISO Standards and peak acceleration criterion, a quintic function has the advantage of passenger comfort over other path functions. After choosing the appropriate path, an algorithm for re-planning the lane change path, based on dynamic traffic conditions, was proposed. The simulation results show that the proposed algorithm is capable of designing the path in various traffic conditions. Moreover, the algorithm can navigate the vehicle to the initial lane, if the manoeuvre is not possible. Our analytical results showed that the designed paths are suitable, comfortable, and safe.
{"title":"Path planning and re-planning of lane change manoeuvres in dynamic traffic environments","authors":"A. Norouzi, R. Kazemi, Omid Reza Abbassi","doi":"10.1504/IJVAS.2019.10021434","DOIUrl":"https://doi.org/10.1504/IJVAS.2019.10021434","url":null,"abstract":"Automatic lane change is of utmost importance in designing autonomous vehicles and driver assistant systems. In this study, a novel path for lane change manoeuvres, based on mathematical functions, is introduced. To obtain a suitable path for lane change manoeuvres, four functions, namely quintic, septic, sinusoidal, and tangent functions, were examined. The analysis revealed that, according to the ISO Standards and peak acceleration criterion, a quintic function has the advantage of passenger comfort over other path functions. After choosing the appropriate path, an algorithm for re-planning the lane change path, based on dynamic traffic conditions, was proposed. The simulation results show that the proposed algorithm is capable of designing the path in various traffic conditions. Moreover, the algorithm can navigate the vehicle to the initial lane, if the manoeuvre is not possible. Our analytical results showed that the designed paths are suitable, comfortable, and safe.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49268490","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.1504/ijvas.2019.10024254
A. Cabani, R. Khemmar, J. Ertaud, R. Rossi, X. Savatier
{"title":"ADAS multi-sensor fusion system-based security and energy optimisation for an electric vehicle","authors":"A. Cabani, R. Khemmar, J. Ertaud, R. Rossi, X. Savatier","doi":"10.1504/ijvas.2019.10024254","DOIUrl":"https://doi.org/10.1504/ijvas.2019.10024254","url":null,"abstract":"","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.1504/IJVAS.2019.10021918
M. Murugan, B. Rani, Rahul S. Pol
{"title":"Socio-realistic optimal path planning for indoor realtime autonomous mobile robot navigation","authors":"M. Murugan, B. Rani, Rahul S. Pol","doi":"10.1504/IJVAS.2019.10021918","DOIUrl":"https://doi.org/10.1504/IJVAS.2019.10021918","url":null,"abstract":"","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821226","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.1504/ijvas.2019.10024253
Abdul Gahfoor Al Shehabi
{"title":"Quadrotor attitude and position fuzzy control using linearised inverted moment matrix","authors":"Abdul Gahfoor Al Shehabi","doi":"10.1504/ijvas.2019.10024253","DOIUrl":"https://doi.org/10.1504/ijvas.2019.10024253","url":null,"abstract":"","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821233","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
An internal-model control strategy of vehicle chassis system is proposed based on wavelet-network dynamic inversion method, to eliminate the coupling effect among the chassis subsystems. By analysing the chassis system reversibility, the paired relationship of the input and output variables is determined. Then, a wavelet-network dynamic inversion model of vehicle chassis system is obtained and connected in series with the original system. The chassis system is decoupled into three independent pseudo-linear systems, and decoupling between the control loops of vehicle chassis system is realised. An internal-model controller is designed to improve the system response. Further, a simulation and a driver-in-loop test using LabVIEW PXI and veDYNA are conducted to verify the control strategy efficacy. The results show that the proposed control strategy can eliminate the interference and coupling between the active front-wheel steering, direct yaw-moment control, and active suspension system, and improve the vehicle handling and status tracking stability.
{"title":"Internal-model control of vehicle chassis based on wavelet-network dynamic inversion method","authors":"Guang Xia, Yangying Hua, Xiwen Tang, Linfeng Zhao, Wuwei Chen","doi":"10.1504/IJVAS.2018.10017221","DOIUrl":"https://doi.org/10.1504/IJVAS.2018.10017221","url":null,"abstract":"An internal-model control strategy of vehicle chassis system is proposed based on wavelet-network dynamic inversion method, to eliminate the coupling effect among the chassis subsystems. By analysing the chassis system reversibility, the paired relationship of the input and output variables is determined. Then, a wavelet-network dynamic inversion model of vehicle chassis system is obtained and connected in series with the original system. The chassis system is decoupled into three independent pseudo-linear systems, and decoupling between the control loops of vehicle chassis system is realised. An internal-model controller is designed to improve the system response. Further, a simulation and a driver-in-loop test using LabVIEW PXI and veDYNA are conducted to verify the control strategy efficacy. The results show that the proposed control strategy can eliminate the interference and coupling between the active front-wheel steering, direct yaw-moment control, and active suspension system, and improve the vehicle handling and status tracking stability.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"14 1","pages":"170"},"PeriodicalIF":0.0,"publicationDate":"2018-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45020143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-11-14DOI: 10.1504/IJVAS.2018.10017219
G. I. Aswath, S. K. Vasudevan, R. Sundaram
Automobiles are getting more and more sophisticated with many features these days. With growth and availability of internet, much more value addition can be brought in. But, mostly, all the rich and safety features are part of the luxury and high-end cars. Or, it needs additional cost to incorporate these features. For a lower end car, these features still remain unreachable. In this research, we have come up with features at a very affordable cost for all the variants of the cars. Our system includes safety features, theft alert, panic alerts, driver behaviour monitoring, fuel leakage detection, etc., all in one unit. The system is tested for its functioning and is found to be effective under various operating conditions.
{"title":"Emerging security concerns for smart vehicles and proposed IoT solutions","authors":"G. I. Aswath, S. K. Vasudevan, R. Sundaram","doi":"10.1504/IJVAS.2018.10017219","DOIUrl":"https://doi.org/10.1504/IJVAS.2018.10017219","url":null,"abstract":"Automobiles are getting more and more sophisticated with many features these days. With growth and availability of internet, much more value addition can be brought in. But, mostly, all the rich and safety features are part of the luxury and high-end cars. Or, it needs additional cost to incorporate these features. For a lower end car, these features still remain unreachable. In this research, we have come up with features at a very affordable cost for all the variants of the cars. Our system includes safety features, theft alert, panic alerts, driver behaviour monitoring, fuel leakage detection, etc., all in one unit. The system is tested for its functioning and is found to be effective under various operating conditions.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"14 1","pages":"107"},"PeriodicalIF":0.0,"publicationDate":"2018-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48605698","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-11-14DOI: 10.1504/IJVAS.2018.10017220
U. Hamid, Yuichi Saito, H. Zamzuri, Mohd Azizi Abdul Rahman, P. Raksincharoensak
The growth of automation sector has brought numerous autonomous technology developments in many sectors, especially automotive. The autonomous features are proven to be helpful in reducing road fatalities globally. Advanced Driver Assistance Systems (ADAS), a system which helps the driving process automation, has growing roles in recent road vehicle features. It is the base for the development of a fully autonomous vehicle. One of the main features of ADAS is Collision Avoidance (CA) system. A sufficient CA architecture usually encompasses threat assessment, path planning and path tracking strategies. There are many ways of developing precise CA architecture using the combination of these strategies. This paper aims to review current available methods for CA as an introductory idea for researchers who are new to this field. Each of the methods in each strategy is categorised into several groups. Their advantages and drawbacks are discussed. In addition to that, several improvement suggestions for a comprehensive CA system were highlighted.
{"title":"A review on threat assessment, path planning and path tracking strategies for collision avoidance systems of autonomous vehicles","authors":"U. Hamid, Yuichi Saito, H. Zamzuri, Mohd Azizi Abdul Rahman, P. Raksincharoensak","doi":"10.1504/IJVAS.2018.10017220","DOIUrl":"https://doi.org/10.1504/IJVAS.2018.10017220","url":null,"abstract":"The growth of automation sector has brought numerous autonomous technology developments in many sectors, especially automotive. The autonomous features are proven to be helpful in reducing road fatalities globally. Advanced Driver Assistance Systems (ADAS), a system which helps the driving process automation, has growing roles in recent road vehicle features. It is the base for the development of a fully autonomous vehicle. One of the main features of ADAS is Collision Avoidance (CA) system. A sufficient CA architecture usually encompasses threat assessment, path planning and path tracking strategies. There are many ways of developing precise CA architecture using the combination of these strategies. This paper aims to review current available methods for CA as an introductory idea for researchers who are new to this field. Each of the methods in each strategy is categorised into several groups. Their advantages and drawbacks are discussed. In addition to that, several improvement suggestions for a comprehensive CA system were highlighted.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"14 1","pages":"134"},"PeriodicalIF":0.0,"publicationDate":"2018-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41404995","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-11-14DOI: 10.1504/IJVAS.2018.096158
A. Yahiaoui
The application of modern control methods to automated driving of following vehicles on a highway can make the advanced transportation systems much more safe and efficient. This paper focuses on a computational approach to optimal control and stability analysis of the adjacent vehicles following in a single traffic lane of a highway in order to ensure the functional safety and assistance of automated driving systems. These vehicles are entirely automated as they have the ability to follow a line path at a high speed and reduce the distance that separates them while adjusting their responses automatically without intervention from humans (i.e. drivers). To meet such requirements for driving safety, this paper explores a new approach to string stability of following vehicles that travel in a straight line of a highway, using optimal control and Lyapunov stability theories. Consequently, sufficient conditions for string stability of a vehicle traffic using continuous-time Lyapunov function and matrix Riccati equation are presented. The search for a quadratic Lyapunov function is then formulated as a convex optimisation problem in terms of a linear invariant system towards a quadratic optimal criterion. The analysis of these methods for minimising the performance criterion is also given. Finally, the paper ends with a conclusion and perspective for future work.
{"title":"Lyapunov stability-based optimal control of following vehicles on a highway","authors":"A. Yahiaoui","doi":"10.1504/IJVAS.2018.096158","DOIUrl":"https://doi.org/10.1504/IJVAS.2018.096158","url":null,"abstract":"The application of modern control methods to automated driving of following vehicles on a highway can make the advanced transportation systems much more safe and efficient. This paper focuses on a computational approach to optimal control and stability analysis of the adjacent vehicles following in a single traffic lane of a highway in order to ensure the functional safety and assistance of automated driving systems. These vehicles are entirely automated as they have the ability to follow a line path at a high speed and reduce the distance that separates them while adjusting their responses automatically without intervention from humans (i.e. drivers). To meet such requirements for driving safety, this paper explores a new approach to string stability of following vehicles that travel in a straight line of a highway, using optimal control and Lyapunov stability theories. Consequently, sufficient conditions for string stability of a vehicle traffic using continuous-time Lyapunov function and matrix Riccati equation are presented. The search for a quadratic Lyapunov function is then formulated as a convex optimisation problem in terms of a linear invariant system towards a quadratic optimal criterion. The analysis of these methods for minimising the performance criterion is also given. Finally, the paper ends with a conclusion and perspective for future work.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"14 1","pages":"196-211"},"PeriodicalIF":0.0,"publicationDate":"2018-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2018.096158","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48801522","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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