LEADER 01301nam 2200265la 450 001 9910481705403321 005 20210618143007.0 035 $a(UK-CbPIL)2126543722 035 $a(CKB)5500000000107467 035 $a(EXLCZ)995500000000107467 100 $a20210618nuuuuuuuu uy | 101 0 $aita 135 $aurcn||||a|bb| 200 10$aConfessione di Luigi Pulci il quale prega la Vergine Maria, che interceda per lui: & adduce tutte le figure del testamento uecchio: con un capitolo sopra Popule meus: & un capitolo, & sonetti alla croce, a Giesu Christo, & una lauda del Magnifico Lorenzo de Medici$b[electronic resource] 210 $aItaly $c[s.n.]$d[s.d.] 215 $aOnline resource ([4] c., 4°) 300 $aReproduction of original in Biblioteca Nazionale Centrale di Firenze. 700 $aPulci$b Luigi$f1432-1484.$0194113 701 $aMedici$b Lorenzo de'$f1449-1492.$0151811 801 0$bUk-CbPIL 801 1$bUk-CbPIL 906 $aBOOK 912 $a9910481705403321 996 $aConfessione di Luigi Pulci il quale prega la Vergine Maria, che interceda per lui: & adduce tutte le figure del testamento uecchio: con un capitolo sopra Popule meus: & un capitolo, & sonetti alla croce, a Giesu Christo, & una lauda del Magnifico Lorenzo de Medici$92088110 997 $aUNINA LEADER 06817nam 2200505 450 001 9910555143603321 005 20220823165007.0 010 $a1-119-74796-1 010 $a1-119-74797-X 010 $a1-119-74795-3 035 $a(MiAaPQ)EBC6821612 035 $a(Au-PeEL)EBL6821612 035 $a(CKB)19968562600041 035 $a(EXLCZ)9919968562600041 100 $a20220823d2022 uy 0 101 0 $aeng 135 $aurcnu|||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 00$aAutonomous road vehicle path planning and tracking control /$fLevent Guvenc [and three others] 210 1$aHoboken, New Jersey :$cJohn Wiley & Sons, Inc.,$d[2022] 210 4$dİ2022 215 $a1 online resource (259 pages) 225 1 $aIEEE Press Series on Control Systems Theory and Applications Ser. 311 08$aPrint version: Guvenc, Levent Autonomous Road Vehicle Path Planning and Tracking Control Newark : John Wiley & Sons, Incorporated,c2021 9781119747949 327 $aCover -- Title Page -- Copyright -- Contents -- About the Authors -- Preface -- List of Abbreviations -- Chapter 1 Introduction -- 1.1 Motivation and Introduction -- 1.2 History of Automated Driving -- 1.3 ADAS to Autonomous Driving -- 1.4 Autonomous Driving Architectures -- 1.5 Cybersecurity Considerations -- 1.6 Organization and Scope of the Book -- 1.7 Chapter Summary and Concluding Remarks -- References -- Chapter 2 Vehicle, Path, and Path Tracking Models -- 2.1 Tire Force Model -- 2.1.1 Introduction -- 2.1.2 Tire Forces/Moments and Slip -- 2.1.3 Longitudinal Tire Force Modeling -- 2.1.4 Lateral Tire Force Modeling -- 2.1.5 Self?aligning Moment Model -- 2.1.6 Coupling of Tire Forces -- 2.2 Vehicle Longitudinal Dynamics Model -- 2.3 Vehicle Lateral Dynamics Model -- 2.3.1 Geometry of Cornering -- 2.3.2 Single?Track Lateral Vehicle Model -- 2.3.3 Augmented Single?Track Lateral Vehicle Model -- 2.3.4 Linearized Single Track Lateral Vehicle Model -- 2.4 Path Model -- 2.5 Pure Pursuit: Geometry?Based Low?Speed Path Tracking -- 2.6 Stanley Method for Path Tracking -- 2.7 Path Tracking in Reverse Driving and Parking -- 2.8 Chapter Summary and Concluding Remarks -- References -- Chapter 3 Simulation, Experimentation, and Estimation Overview -- 3.1 Introduction to the Simulation?Based Development and Evaluation Process -- 3.2 Model?in?the?Loop Simulation -- 3.2.1 Linear and Nonlinear Vehicle Simulation Models -- 3.2.2 Higher Fidelity Vehicle Simulation Models -- 3.3 Virtual Environments Used in Simulation -- 3.3.1 Road Network Creation -- 3.3.2 Driving Environment Construction -- 3.3.3 Capabilities -- 3.4 Hardware?in?the?Loop Simulation -- 3.5 Experimental Vehicle Testbeds -- 3.5.1 Unified Approach -- 3.5.2 Unified AV Functions and Sensors Library -- 3.6 Estimation -- 3.6.1 Estimation of the Effective Tire Radius. 327 $a3.6.2 Slip Slope Method for Road Friction Coefficient Estimation -- 3.6.3 Results and Discussion -- 3.7 Chapter Summary and Concluding Remarks -- References -- Chapter 4 Path Description and Generation -- 4.1 Introduction -- 4.2 Discrete Waypoint Representation -- 4.3 Parametric Path Description -- 4.3.1 Clothoids -- 4.3.2 Bezier Curves -- 4.3.3 Polynomial Spline Description -- 4.4 Tracking Error Calculation -- 4.4.1 Tracking Error Computation for a Discrete Waypoint Path Representation -- 4.4.2 Tracking Error Computation for a Spline Path Representation -- 4.5 Chapter Summary and Concluding Remarks -- References -- Chapter 5 Collision Free Path Planning -- 5.1 Introduction -- 5.2 Elastic Band Method -- 5.2.1 Path Structure -- 5.2.2 Calculation of Forces -- 5.2.3 Reaching Equilibrium Point -- 5.2.4 Selected Scenarios -- 5.2.5 Results -- 5.3 Path Planning with Minimum Curvature Variation -- 5.3.1 Optimization Based on G2?Quintic Splines Path Description -- 5.3.2 Reduction of Computation Cost Using Lookup Tables -- 5.3.3 Geometry?Based Collision?Free Target Points Generation -- 5.3.4 Simulation Results -- 5.4 Model?Based Trajectory Planning -- 5.4.1 Problem Formulation -- 5.4.2 Parameterized Vehicle Control -- 5.4.3 Constrained Optimization on Curvature Control -- 5.4.4 Sampling of the Longitudinal Movements -- 5.4.5 Trajectory Evaluation and Selection -- 5.4.6 Integration of Road Friction Coefficient Estimation for Safety Enhancement -- 5.4.7 Simulation Results in Complex Scenarios -- 5.5 Chapter Summary and Concluding Remarks -- References -- Chapter 6 Path?Tracking Model Regulation -- 6.1 Introduction -- 6.2 DOB Design and Frequency Response Analysis -- 6.2.1 DOB Derivation and Loop Structure -- 6.2.2 Application Examples -- 6.2.3 Disturbance Rejection Comparison -- 6.3 Q Filter Design -- 6.4 Time Delay Performance. 327 $a6.5 Chapter Summary and Concluding Remarks -- References -- Chapter 7 Robust Path Tracking Control -- 7.1 Introduction -- 7.2 Model Predictive Control for Path Following -- 7.2.1 Formulation of Linear Adaptive MPC Problem -- 7.2.2 Estimation of Lateral Velocity -- 7.2.3 Experimental Results -- 7.3 Design Methodology for Robust Gain?Scheduling Law -- 7.3.1 Problem Formulation -- 7.3.2 Design via Optimization in Linear Matrix Inequalities Form -- 7.3.3 Parameter?Space Gain?Scheduling Methodology -- 7.4 Robust Gain?Scheduling Application to Path?Tracking Control -- 7.4.1 Car Steering Model and Parameter Uncertainty -- 7.4.2 Controller Structure and Design Parameters -- 7.4.3 Application of Parameter?Space Gain?Scheduling -- 7.4.4 Comparative Study of LMI Design -- 7.4.5 Experimental Results and Discussions -- 7.5 Add?on Vehicle Stability Control for Autonomous Driving -- 7.5.1 Direct Yaw Moment Control Strategies -- 7.5.2 Direct Yaw Moment Distribution via Differential Braking -- 7.5.3 Simulation Results and Discussion -- 7.6 Chapter Summary and Concluding Remarks -- References -- Chapter 8 Summary and Conclusions -- 8.1 Summary -- 8.2 Conclusions -- Index -- Books in the IEEE Press Series on Control Systems Theoryand Applications -- EULA. 410 0$aIEEE Press Series on Control Systems Theory and Applications Ser. 606 $aAutomated vehicles$xDesign and construction 606 $aAutomated vehicles$xCollision avoidance systems 606 $aMathematical optimization$xIndustrial applications 615 0$aAutomated vehicles$xDesign and construction. 615 0$aAutomated vehicles$xCollision avoidance systems. 615 0$aMathematical optimization$xIndustrial applications. 676 $a629.04/6 702 $aGu?venc?$b Levent 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910555143603321 996 $aAutonomous Road Vehicle Path Planning and Tracking Control$92816240 997 $aUNINA