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Autonomous road vehicle path planning and tracking control / / Levent Guvenc [and three others]
| Autonomous road vehicle path planning and tracking control / / Levent Guvenc [and three others] |
| Pubbl/distr/stampa | Hoboken, New Jersey : , : John Wiley & Sons, Inc., , [2022] |
| Descrizione fisica | 1 online resource (259 pages) |
| Disciplina | 629.04/6 |
| Collana | IEEE Press Series on Control Systems Theory and Applications Ser. |
| Soggetto topico |
Automated vehicles - Design and construction
Automated vehicles - Collision avoidance systems Mathematical optimization - Industrial applications |
| ISBN |
1-119-74796-1
1-119-74797-X 1-119-74795-3 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Cover -- 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.
3.6.2 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. 6.5 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. |
| Record Nr. | UNINA-9910555143603321 |
| Hoboken, New Jersey : , : John Wiley & Sons, Inc., , [2022] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Autonomous road vehicle path planning and tracking control / / Levent Guvenc [and three others]
| Autonomous road vehicle path planning and tracking control / / Levent Guvenc [and three others] |
| Pubbl/distr/stampa | Hoboken, New Jersey : , : John Wiley & Sons, Inc., , [2022] |
| Descrizione fisica | 1 online resource (259 pages) |
| Disciplina | 629.04/6 |
| Collana | IEEE Press Series on Control Systems Theory and Applications |
| Soggetto topico |
Automated vehicles - Design and construction
Automated vehicles - Collision avoidance systems Mathematical optimization - Industrial applications |
| ISBN |
1-119-74796-1
1-119-74797-X 1-119-74795-3 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Cover -- 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.
3.6.2 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. 6.5 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. |
| Record Nr. | UNINA-9910829996303321 |
| Hoboken, New Jersey : , : John Wiley & Sons, Inc., , [2022] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
International journal of automotive engineering : official journal of the Society of Automotive Engineers of Japan, Inc
| International journal of automotive engineering : official journal of the Society of Automotive Engineers of Japan, Inc |
| Pubbl/distr/stampa | Tokyo, Japan : , : The Society of Automotive Engineers of Japan, , [2010-] |
| Descrizione fisica | 1 online resource : illustrations |
| Soggetto topico |
Automobiles - Design and construction
Automobiles - Technological innovations Human engineering Automobiles - Safety measures Automobile driving - Human factors Driver assistance systems Automobiles - Testing - Computer simulation Automobiles - Motors - Design and construction Automobiles - Motors - Technological innovations Motor vehicles - Design and construction Automated vehicles - Design and construction Electric vehicles - Design and construction Alternative fuel vehicles - Design and construction |
| Soggetto genere / forma | Periodicals. |
| ISSN | 2185-0992 |
| Formato | Materiale a stampa |
| Livello bibliografico | Periodico |
| Lingua di pubblicazione | eng |
| Altri titoli varianti | IJAE |
| Record Nr. | UNISA-996478964303316 |
| Tokyo, Japan : , : The Society of Automotive Engineers of Japan, , [2010-] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. di Salerno | ||
| ||
International journal of automotive engineering : official journal of the Society of Automotive Engineers of Japan, Inc
| International journal of automotive engineering : official journal of the Society of Automotive Engineers of Japan, Inc |
| Pubbl/distr/stampa | Tokyo, Japan : , : The Society of Automotive Engineers of Japan, , [2010-] |
| Descrizione fisica | 1 online resource : illustrations |
| Soggetto topico |
Automobiles - Design and construction
Automobiles - Technological innovations Human engineering Automobiles - Safety measures Automobile driving - Human factors Driver assistance systems Automobiles - Testing - Computer simulation Automobiles - Motors - Design and construction Automobiles - Motors - Technological innovations Motor vehicles - Design and construction Automated vehicles - Design and construction Electric vehicles - Design and construction Alternative fuel vehicles - Design and construction |
| Soggetto genere / forma | Periodicals. |
| ISSN | 2185-0992 |
| Formato | Materiale a stampa |
| Livello bibliografico | Periodico |
| Lingua di pubblicazione | eng |
| Altri titoli varianti | IJAE |
| Record Nr. | UNINA-9910140715303321 |
| Tokyo, Japan : , : The Society of Automotive Engineers of Japan, , [2010-] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Path planning for autonomous vehicle : ensuring reliable driverless navigation and control maneuver / / by Umar Zakir Abdul Hamid, Volkan Sezer, Bin Li, editors
| Path planning for autonomous vehicle : ensuring reliable driverless navigation and control maneuver / / by Umar Zakir Abdul Hamid, Volkan Sezer, Bin Li, editors |
| Pubbl/distr/stampa | London : , : Intechopen, , [2019] |
| Descrizione fisica | 1 online resource (148 pages) |
| Disciplina | 629.2 |
| Soggetto topico |
Motor vehicles - Automatic control
Automated vehicles - Design and construction |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910687976203321 |
| London : , : Intechopen, , [2019] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Vehicle dynamics : fundamentals and ultimate trends / / Basilio Lenzo
| Vehicle dynamics : fundamentals and ultimate trends / / Basilio Lenzo |
| Autore | Lenzo Basilio |
| Pubbl/distr/stampa | Cham, Switzerland : , : Springer International Publishing, , [2021] |
| Descrizione fisica | 1 online resource (393 pages) |
| Disciplina | 629.231 |
| Collana | CISM International Centre for Mechanical Sciences |
| Soggetto topico |
Motor vehicles - Dynamics
Automated vehicles - Design and construction |
| ISBN | 3-030-75884-2 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Intro -- Preface -- Contents -- Fundamentals on Vehicle and Tyre Modelling -- 1 Global Vehicle Modeling -- 1.1 Vehicle Dynamics -- 1.2 Dynamic Torsor Calculation -- 1.3 Exterior Forces Torsor Calculation -- 1.4 The Sprung Mass Dynamics -- 1.5 Model Simplification and Validation -- 2 Tire Modeling -- 2.1 Tire Physical Fundamentals -- 2.2 Tire Behavioural Models -- 2.3 Tire Models Linearization -- 2.4 Dynamic Saturation -- 2.5 Simulation of the Linearized Models -- 2.6 Tire Models Comparison -- 2.7 Validation and Relevance of Linearized Tire Models -- References -- Tyre Mechanics and Thermal Effects on Tyre Behaviour -- 1 Introduction to the Tyre -- 2 Tyre Structure -- 3 Mechanics of Tyres -- 4 Tyre Role in Vehicle Dynamics -- 5 Tyre Working Conditions Effects -- 6 Tyre Thermal Modelling in Vehicle Dynamics and Driving Simulations -- 7 Tyre Wear Modelling -- References -- Torque Vectoring Control for Enhancing Vehicle Safety and Energy Efficiency -- 1 Introduction -- 2 Torque Vectoring Control Framework -- 3 Reference Generator: rref, (βref) -- 3.1 Fundamentals on the Design of rref -- 3.2 Design of the Full Vehicle Cornering Response and Driving Modes -- 3.3 Concurrent Yaw Rate and Sideslip Angle Control -- 4 High Level Controller: Ttot, Mz -- 4.1 Calculation of Ttot -- 4.2 Calculation of Mz -- 4.3 Experimental Results and Further Remarks -- 5 Low Level Controller: Tij -- 5.1 Relationships Among Ttot, Mz and Tij -- 5.2 Computation of σ -- 5.3 An Alternative for Mz: The Energy Efficiency Mode -- 5.4 Experimental Results and Further Remarks -- References -- State and Parameter Estimation for Vehicle Dynamics -- 1 Introduction -- 1.1 Sensors in Vehicles -- 1.2 Engineering Rules to Extract Quantities of Interest -- 1.3 Sensor Fusion -- 1.4 Example: Longitudinal Vehicle Velocity -- 1.5 Summary -- 2 General Observer and Estimation Methods.
2.1 Physics Driven Observer and Estimation Schemes -- 2.2 Kinematic Versus Dynamic Models for Estimation -- 2.3 Observability for Reliable State Observations and Estimates -- 2.4 Conclusion -- 3 Kalman Filter Based State Estimators for Vehicle Dynamics -- 3.1 Reference Data Description -- 3.2 Decoupled Vehicle State Estimation: Longitudinal Vehicle States -- 3.3 Lateral Vehicle State Estimation -- 4 Kalman Filter Based Estimators for Vehicle Dynamics with Unknown Tire Models -- 4.1 Coupled State/Input and State/Parameter Estimation -- 4.2 Lateral State/Force Estimation -- 4.3 Lateral State/Tire Parameter Estimation -- 4.4 Post-processing for Tire Model Extraction -- 5 Conclusion -- References -- Automated Driving Vehicles -- 1 Introduction -- 1.1 The Role of the Driver -- 1.2 Advanced Driver Assistance Systems and Automated Driving Systems -- 1.3 Concluding Remarks -- 2 Sensor Fusion -- 2.1 Sensor Fusion Configuration -- 2.2 Model-Based Approach -- 2.3 Data-Driven Approach -- 2.4 Safeguarding Sensor Fusion -- 3 Motion Planning for Autonomous Driving -- 3.1 Decision and Motion Planning for Autonomous Vehicles -- 3.2 Safe Driving Envelope Decision and Motion Optimization -- 3.3 Conclusion and Future Works -- 4 Automatic Steering Control for Autonomous Vehicle Path Tracking -- 4.1 Path Tracking Algorithm -- 4.2 Torque Controller -- 4.3 Vehicle Test Results: Automatic Steering Control -- 4.4 Stability Analysis -- 4.5 Conclusion -- 5 Speed and Clearance Control Algorithm for Autonomous Vehicle Longitudinal Control -- 5.1 Vehicle Model for Longitudinal Control -- 5.2 High Level Control: Desired Acceleration Design -- 5.3 Low Level Control: Determine Actuator Inputs -- 5.4 Simulation Study -- 5.5 Conclusion -- 6 Verification and Validation -- 6.1 Scenario-Based Approach -- 6.2 Accelerated Evaluation -- 6.3 The Case Study: Automatic Emergency Braking System. References. |
| Record Nr. | UNINA-9910522979603321 |
Lenzo Basilio
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| Cham, Switzerland : , : Springer International Publishing, , [2021] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
