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ADAS & Autonomous Vehicle Engineering
| ADAS & Autonomous Vehicle Engineering |
| Pubbl/distr/stampa | New York, NY : , : SAE Media Group, , 2023- |
| Descrizione fisica | 1 online resource |
| Disciplina | 629.046 |
| Soggetto topico | Automated vehicles - Design and construction |
| Formato | Materiale a stampa  |
| Livello bibliografico | Periodico |
| Lingua di pubblicazione | eng |
| Altri titoli varianti |
ADAS and autonomous vehicle engineering
Advanced driver assistance systems & autonomous vehicle engineering |
| Record Nr. | UNINA-9911011841603321 |
| New York, NY : , : SAE Media Group, , 2023- | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Autonomous Marine Vehicles Planning and Control
| Autonomous Marine Vehicles Planning and Control |
| Autore | Bai Yong |
| Edizione | [1st ed.] |
| Pubbl/distr/stampa | Newark : , : John Wiley & Sons, Incorporated, , 2025 |
| Descrizione fisica | 1 online resource (505 pages) |
| Disciplina | 623.82/06 |
| Altri autori (Persone) | ZhaoLiang |
| Soggetto topico | Automated vehicles - Design and construction |
| ISBN |
1-394-35507-6
1-394-35505-X |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Cover -- Series Page -- Title Page -- Copyright Page -- Contents -- Preface -- Chapter 1 Introduction -- 1.1 Overview -- 1.2 System Structure -- 1.3 Mathematical Model of a USV -- 1.4 Maritime Applications -- 1.5 Motivation of this Book -- References -- Chapter 2 Automatic Control Module -- 2.1 Origin and Development -- 2.2 Common Control System Development -- 2.2.1 Dynamic Positioning and Position Mooring Systems -- 2.2.1.1 Dynamic Positioning Control System -- 2.2.1.2 Position Mooring Control System -- 2.2.2 Waypoint Tracking and Path-Following Control Systems -- 2.2.2.1 Waypoint Tracking Control System -- 2.2.2.2 Path-Following Control System -- 2.3 Advanced Control System Development -- 2.3.1 Linear Quadratic Optimal Control -- 2.3.2 State Feedback Linearization -- 2.3.2.1 Decoupling in the BODY Frame (Velocity Control) -- 2.3.2.2 Decoupling in the NED Frame (Position and Attitude Control) -- 2.3.3 Integrator Backstepping Control -- 2.3.4 Sliding-Mode Control -- 2.3.4.1 SISO Sliding-Mode Control -- 2.3.4.2 Sliding-Mode Control Using the Eigenvalue Decomposition -- References -- Chapter 3 Perception and Sensing Module -- 3.1 Low-Pass and Notch Filtering -- 3.1.1 Low-Pass Filtering -- 3.1.2 Cascaded Low-Pass and Notch Filtering -- 3.2 Fixed Gain Observer Design -- 3.2.1 Observability -- 3.2.2 Luenberger Observer -- 3.2.3 Case Study: Luenberger Observer for Heading Autopilots Using Only Compass Measurements -- 3.3 Kalman Filter Design -- 3.3.1 Discrete-Time Kalman Filter -- 3.3.2 Continuous-Time Kalman Filter -- 3.3.3 Extended Kalman Filter -- 3.3.4 Corrector-Predictor Representation for Nonlinear Observers -- 3.3.5 Case Study: Kalman Filter for Heading Autopilots Using Only Compass Measurements -- 3.3.5.1 Heading Sensors Overview -- 3.3.5.2 System Model for Heading Autopilot Observer Design.
3.3.6 Case Study: Kalman Filter for Dynamic Positioning Systems Using GNSS and Compass Measurements -- 3.4 Nonlinear Passive Observer Designs -- 3.4.1 Case Study: Passive Observer for Dynamic Positioning Using GNSS and Compass Measurements -- 3.4.2 Case Study: Passive Observer for Heading Autopilots Using only Compass Measurements -- 3.4.3 Case Study: Passive Observer for Heading Autopilots Using Both Compass and Rate Measurements -- 3.5 Integration Filters for IMU and Global Navigation Satellite Systems -- 3.5.1 Integration Filter for Position and Linear Velocity -- 3.5.2 Accelerometer and Compass Aided Attitude Observer -- 3.5.3 Attitude Observer Using Gravitational and Magnetic Field Directions -- References -- Chapter 4 Model Predictive Control for Autonomous Marine Vehicles: A Review -- 4.1 Introduction -- 4.1.1 Object Introduction -- 4.1.2 Previous Reviews -- 4.2 Fundamental Models and a General Picture -- 4.2.1 Model of AMVs -- 4.2.1.1 6-DOF Model -- 4.2.1.2 3-DOF Model -- 4.2.2 Model Predictive Control -- 4.2.3 Literature Search -- 4.3 Methodology -- 4.3.1 MPC Applications of AMVs -- 4.3.1.1 Real-Coded Chromosome -- 4.3.1.2 Path Following -- 4.3.1.3 Trajectory Tracking -- 4.3.1.4 Cooperative Control/Formation Control -- 4.3.1.5 Collision Avoidance -- 4.3.1.6 Energy Management -- 4.3.1.7 Other Topics -- 4.4 Discussion -- 4.4.1 Limitations of Existing Techniques and Challenges in Developing MPC -- 4.4.1.1 Uncertainties of AMV Motion Models -- 4.4.1.2 Stability and Security of the New MPC Method -- 4.4.1.3 The Balance Between Effectiveness and Efficiency of the Methods -- 4.4.1.4 The Practical Application Scenario of the MPC and the Discussion of the Working Conditions -- 4.4.1.5 Challenges Posed by the Marine Environment Affect MPC Development for AMVs -- 4.4.2 Trends in the Technology Development for MPC in AMV. 4.4.2.1 More Cooperative Control with MPC -- 4.4.2.2 Rigorous Theoretical Derivation and Experimental Verification -- 4.4.2.3 Real-Time MPC for AMVs Applications -- 4.4.2.4 The Combination of Machine Learning/Neural Networks and MPC for AMVs Applications -- 4.4.2.5 Address the Challenges Posed by the Marine Environment -- 4.4.2.6 Potential Interdisciplinary Approaches that Combine MPC with Other Innovative Fields -- 4.5 Conclusion -- Acknowledgement -- References -- Chapter 5 Controller-Consistent Path Planning for Unmanned Surface Vehicles -- 5.1 Introduction -- 5.2 Problem Formulation -- 5.3 Methodology -- 5.3.1 Improved Artificial Fish Swarm Algorithm -- 5.3.1.1 Prey Behavior -- 5.3.1.2 Follow Behavior -- 5.3.1.3 Swarm Behavior -- 5.3.1.4 Random Behavior -- 5.3.1.5 Adaptive Visual and Step -- 5.3.2 Expanding Technique -- 5.3.3 Node Cutting and Path Smoother -- 5.3.4 Establishment of USV Model -- 5.4 Simulation -- 5.4.1 Monte Carlo Simulation -- 5.4.2 Path Quality Test -- 5.4.3 Simulation Using USV Control Model in Practical Environment -- 5.5 Conclusion -- References -- Chapter 6 Nonlinear Model Predictive Control and Routing for USV-Assisted Water Monitoring -- 6.1 Introduction -- 6.2 Problem Formulation -- 6.2.1 Heterogeneous Global Path Planning Problem -- 6.2.1.1 USV Model -- 6.2.1.2 Task Model -- 6.2.1.3 Problem Statement -- 6.2.2 Problem Analysis -- 6.2.3 Path Following Problem -- 6.2.3.1 Basic Assumptions -- 6.2.3.2 Vessel Model -- 6.2.3.3 Problem Description -- 6.3 Methodology -- 6.3.1 Greedy Partheno Genetic Algorithm -- 6.3.1.1 Dual-Coded Chromosome -- 6.3.1.2 Fitness Function -- 6.3.1.3 Greedy Randomized Initialization -- 6.3.1.4 Local Exploration -- 6.3.1.5 Mutation Operators -- 6.3.1.6 Algorithm Flow -- 6.3.2 Nonlinear Model Predictive Control -- 6.3.2.1 State Space Model -- 6.3.2.2 NMPC Design -- 6.3.2.3 Solver -- 6.3.2.4 Stability. 6.4 Results and Discussion -- 6.4.1 Simulation: Global Task Planning -- 6.4.1.1 Convergence Test -- 6.4.1.2 Heterogeneous Task Planning -- 6.4.2 Simulation: NMPC Control Performance -- 6.4.2.1 Test 1: Simulation Under Different Model Uncertainties -- 6.4.2.2 Test 2: Comparative Study with Other Methods -- 6.4.3 Simulation Verification of the Framework -- 6.5 Conclusion -- References -- Chapter 7 Global-Local Hierarchical Framework for USV Trajectory Planning -- 7.1 Introduction -- 7.2 Problem Formulation -- 7.2.1 Marine Environment -- 7.2.2 Dynamic Obstacles -- 7.2.3 Effects of Currents -- 7.2.4 USV Model and Constraints -- 7.2.5 Protocol Constraints -- 7.2.6 Objective Functions -- 7.2.6.1 The Minimum Cruising Time -- 7.2.6.2 The Minimum Variation of Heading Angle -- 7.2.6.3 The Safest Path -- 7.2.7 Problem Statement -- 7.3 Methodology -- 7.3.1 Adaptive-Elite GA with Fuzzy Inference (AEGAfi) -- 7.3.1.1 Real-Coded Chromosome -- 7.3.1.2 Initialization Based on Adaptive Random Testing (ART) -- 7.3.1.3 Adaptive Elite Selection -- 7.3.1.4 Double-Functioned Crossover -- 7.3.1.5 Mutation Operators -- 7.3.1.6 Fuzzy-Based Probability Choice -- 7.3.1.7 Fitness Function Design -- 7.3.2 Replanning Strategy Based on Sensory Vector -- 7.3.2.1 Sensory Vector Structure -- 7.3.2.2 Formulation of Vs -- 7.3.2.3 Formulation of Gap Vector Vg Based on COLREGs -- 7.3.2.4 Formulation of Transition Path -- 7.4 Simulation Study -- 7.4.1 Convergence Benchmark Analysis -- 7.4.2 Simulation Under Static Environment -- 7.4.3 Simulation Under Time-Varying Environment -- 7.4.4 Simulation on Real-World Geography -- 7.5 Conclusion -- Appendix -- List of Abbreviations -- Acknowledgements -- References -- Chapter 8 Reinforcement Learning for USV-Assisted Wireless Data Harvesting -- 8.1 Introduction -- 8.2 Fundamental Models -- 8.2.1 Environment Model. 8.2.2 Sensor Node and Communication Model -- 8.2.3 USV Model -- 8.2.3.1 Kinematic Model -- 8.2.3.2 Sensing Module -- 8.3 Methodology -- 8.3.1 Brief States on Q-Learning -- 8.3.2 Interactive Learning -- 8.3.2.1 Heuristic Reward Design -- 8.3.2.2 Design of Value-Iterated Global Cost Matrix -- 8.3.2.3 Local Cost Matrix and Path Generation -- 8.3.2.4 USV Actions with Discrete Precise Clothoid Path -- 8.3.3 Summary of the Path Planning Algorithm -- 8.3.4 Time Complexity -- 8.4 Results and Discussion -- 8.4.1 Performance Indicators -- 8.4.2 Hyper-Parameter Analysis -- 8.4.3 Comparative Study with State of the Art -- 8.5 Conclusion -- Appendix -- References -- Chapter 9 Achieving Optimal Dynamic Path Planning for Unmanned Surface Vehicles: A Rational Multi-Objective Approach and a Sensory-Vector Re-Planner -- 9.1 Introduction -- 9.2 Problem Formulation -- 9.2.1 Environment Modeling -- 9.2.1.1 Motion Area -- 9.2.1.2 Effects of Currents -- 9.2.2 Dynamic Obstacles -- 9.2.3 Motion Constraints -- 9.2.4 Objective Functions -- 9.2.4.1 Path Length -- 9.2.4.2 Path Smoothness -- 9.2.4.3 Energy Consumption -- 9.2.4.4 The Safest Path -- 9.2.5 Optimization Problem Statement -- 9.3 Methodology -- 9.3.1 Framework of NSGA-II -- 9.3.2 AENSGA-II -- 9.3.2.1 Real-Coded Representation -- 9.3.2.2 Initialization Using Candidate Set Adaptive Random Testing (CSART) -- 9.3.2.3 Adaptive Crowding Distance (ACD) Strategy -- 9.3.2.4 Improved Binary Tournament Selection -- 9.3.3 Fuzzy Satisfactory Degree -- 9.3.4 Replanning Strategy Based on Sensory Vector -- 9.3.4.1 Sensory Vector Structure -- 9.3.4.2 Formulation of Gap Vector Vg Based on COLREGs -- 9.3.4.3 Formulation of Transition Path -- 9.4 Results and Discussion -- 9.4.1 Convergence and Diversity Analysis -- 9.4.2 Implementation in Static Environment -- 9.4.2.1 Fixed Currents -- 9.4.2.2 Time-Varying Currents. 9.4.3 Simulation Under Dynamic Environment. |
| Record Nr. | UNINA-9911034469103321 |
Bai Yong
|
||
| Newark : , : John Wiley & Sons, Incorporated, , 2025 | ||
| 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 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 | ||
| ||
