Advanced Motion Control and Sensing for Intelligent Vehicles [1 ed.] 9780387444079, 0387444076

Table of contents :
Table of Contents......Page 5
Preface......Page 9
1.1 Intelligent Vehicles for Intelligent Transportation Systems ......Page 12
1.2 Issues in Intelligent Vehicles Research and Development ......Page 16
1.3 Book Organization......Page 20
1.4 Beyond Current Discussion......Page 24
1.5 References......Page 30
2.1 Introduction......Page 43
2.2.1 Longitudinal Tire/Road Friction Characteristics......Page 45
2.2.2 Representative Longitudinal Tire/Road Friction IVIodels......Page 47
2.3.1 Lateral Tire/Road Friction Models......Page 56
2.3.2 Bicycle Model......Page 59
2.4.1 Integrated Tire/Road Friction Characteristics......Page 63
2.4.2 Empirical and Semi-Empirical Integrated Models......Page 65
2.4.3 Analytical Integrated Models......Page 66
2.5.1 Scheme for Tire/Road Friction {Monitors......Page 68
2.5.2 Identification of Empirical Longitudinal Friction Models......Page 70
2.6 Summary......Page 77
2.7 Reference......Page 78
3.1 Introduction......Page 87
3.2 Steer-By-Wire Systems......Page 88
3.3 Vehicle Lateral Motion Modeling and Control Strategies ......Page 94
3.4 Vehicle Lateral Motion Monitors......Page 96
3.5.1 Vehicle Lateral Motion Control Objectives......Page 103
3.5.2 Robust Vehicle Steering Controllers......Page 104
3.5.3 Sliding Mode Steering Controllers......Page 123
3.6 Summary......Page 130
3.7 Reference......Page 131
4.1 Introduction......Page 145
4.2.1 Advanced Engine Control......Page 147
4.2.2 Advanced Vehicle Transmission Control......Page 157
4.3 Vehicle Aerodynamics......Page 161
4.4 Advanced Vehicle Tracking and Braking Control......Page 163
4.4.1 Advanced Vehicle Tracking and Braking Control......Page 164
4.4.2 Anti-Lock Braking System Design......Page 172
4.5 Adaptive Cruise Control......Page 180
4.6 Summary......Page 183
4.7 Reference......Page 184
5.1 Introduction......Page 195
5.2 Road Roughness Modeling......Page 197
5.3.1 LTI Suspension Controllers......Page 200
5.3.2 Robust Suspension Controllers......Page 207
5.3.3 Fuzzy Suspension Controllers......Page 210
5.4 Parameter Estimation and Fault Detection of Suspension Systems......Page 215
5.5 Rollover Avoidance......Page 223
5.7 References......Page 226
6.1 Introduction......Page 233
6.2 Vehicle Path/Trajectory Planning......Page 236
6.3 Vehicle Parking Problems......Page 251
6.4 Longitudinal/LateralA/ertical Vehicle Motion Control......Page 263
6.5 Reference......Page 272
7.1 Introduction......Page 279
7.2 Inter-Vehicle Communication......Page 280
7.3 Vehicle Platoon Control......Page 282
7.4.1 Vehicle Lane Changing Control......Page 287
7.4.2 Vehicle Lane Merging Control......Page 299
7.5.1 Uncooperative Driving at Intersections......Page 304
7.5.2 Cooperative Driving at Intersections......Page 308
7.6 Summary......Page 320
7.7 Reference......Page 322
8,1 Introduction......Page 333
8.2.1 Lane/Road Detection Using CMOS/CCD Camera/Radars......Page 335
8.2.2 Lane/Road Detection Using LiDAR and Laser Sensors......Page 346
8.2.3 Integration of Lane/Departure Detection and Localization......Page 350
8.3.1 Vehicle Detection Using CMOS/CCD Cameras......Page 351
8.3.2 Vehicle Detection Using FMCW Radars......Page 360
8.3.3 Vehicle Detection Using LiDAR or Laser Sensors......Page 367
8.4.1 Pedestrian Detection Using CCD/CIVIOS Cameras......Page 368
8.4.2 Pedestrian Detection Using Infrared Cameras......Page 372
8.5 Advances in Vision Based Traffic Sign Detection......Page 373
8.6 Advances in Vision Based Driver Monitors......Page 376
8.6.1 Driver/Passenger Position/Gesture Detection......Page 377
8.6.2 Driver Fatigue Analysis......Page 379
8.6.3 Driving Actions Analysis......Page 380
8.7.1 Multiple Vision Sensor Fusion......Page 381
8.7.2 Vision Sharing......Page 382
8.7.3 Traffic Infrastructures and Vehicle Vision Systems......Page 384
8.7.4 Vision Sensor Design, Calibration and Fault Detection......Page 385
8.7.5 Vision Based Environment Detection and Adoption......Page 387
8.8 Reference......Page 388
9.1 Introduction......Page 410
9.2.1 Tire Surface Inspection......Page 412
9.2.2 Tire Ply/Belt Inspection......Page 414
9.2.3 Tire Bearing Inspection......Page 416
9.3 Advances in Online Tire Monitoring......Page 419
9.3.1 SAW Tire Sensors......Page 420
9.3.2 Tire Rolling/Rotation Analysis and Pressure Monitoring......Page 431
9.3.3 Other Tire Deformation/Pressure Monitoring Sensors......Page 434
9.4 Further Discussions......Page 436
9.5 Reference......Page 438