Search results for " Vehicle"
showing 10 items of 389 documents
Fuzzy cooperative control of automated ground passenger vehicles
2007
In this paper a fuzzy motion control for cooperative passenger automated vehicles where there are not collisions between the closest ones is proposed. Based on the position of the target and on the initial position of each cooperative vehicle, a supervisory plans nonholonomic circular trajectories which are without intersections, while a fuzzy control strategy assures the asymptotical stability of the motion errors and the reaching of the target with low acceleration values along the planned trajectories. Based on the ISO 2631-1 standard, the saturation properties of the fuzzy maps guarantees low values of the longitudinal and lateral accelerations to assure the comfort of the passengers. T…
Predictive Intelligent Fuzzy Control for Cooperative Motion of Two Nonholonomic Wheeled Cars
2007
In this paper a problem of intelligent cooperative motion control of two wheeled nonholonomic cars (target and follower) is considered. Once a target car converges to a fixed state (position and orientation), a follower car coming from different position and orientation, converges to the state above, without excessive delay between the known arrival time of the target car and the arrival time of the follower. In this sense we present a new predictive fuzzy control system. A Kalman's filter and an odometric model are used to predict the future position and orientation of the target car. The prediction above is employed to plane a circular nonholonomic reference motion for the follower car. A…
Vehicular Motion and Traffic Breakdown: Evaluation of Energy Balance
2009
Microscopic traffic models based on follow–the–leader behaviour are strongly asymmetrically interacting many–particle systems. The well–known Bando’s optimal velocity model includes the fact that (firstly) the driver is always looking forward interacting with the lead vehicle and (secondly) the car travels on the road always with friction. Due to these realistic assumptions the moving car needs petrol for the engine to compensate dissipation by rolling friction. We investigate the flux of mechanical energy to evaluate the energy balance out of the given nonlinear dynamical system of vehicular particles. In order to understand the traffic breakdown as transition from free flow to congested t…
A Novel Technique for Modeling Vehicle Crash using Lumped Parameter Models
2021
This paper presents a novel technique for modeling a full frontal vehicle crash. The crash event is divided into two phases; the first until maximum crush and the second part when the vehicle starts pitching forward. This novel technique will help develop a three degrees of freedom (DOF) lumped parameter model (LPM) for crash and support in the vehicle development process. The paper also highlights the design process for reducing vehicle pitching in occupant protection load cases. The model has been validated against a finite element (FE) simulation of a full frontal crash of a Chevrolet Silverado developed by the National Highway Traffic Safety Administration (NHTSA), and the LPM shows goo…
Cultural institutions as agents of urban and community regeneration in the (post-)pandemic city. The case of the «Laboratorio Zen Insieme» in Palermo
2022
Although all cities in the world have been affected by the COVID-19 pandemic, its impacts on the territories, yet to be understood, are unevenly distributed, revealing extremely varied imbalances depending on the places. However, it is clear that the virus and its variants have aggravated pre-existing socio-spatial inequalities, creating new ones and bringing attention back to those implications between space, planning, public health and citizenship that are at the origins of contemporary urbanism. In a reference framework in which the crisis is globalized but unequal and in the absence of a welfare system capable of responding to the urgencies of the most marginalized social contexts and g…
A Planning and Control System for Self-Driving Racing Vehicles
2018
Autonomous robots will soon enter our everyday life as self-driving cars. These vehicles are designed to behave according to certain sets of cooperative rules, such as traffic ones, and to respond to events that might be unpredictable in their occurrence but predictable in their nature, such as a pedestrian suddenly crossing a street, or another car losing control. As civilian autonomous cars will cross the road, racing autonomous cars are under development, which will require superior Artificial Intelligence Drivers to perform in structured but uncertain conditions. We describe some preliminary results obtained during the development of a planning and control system as key elements of an A…
Heuristics for solving the parameter tuning problem in motion cueing algorithms.
2017
[ES] Diversos tipos de plataformas robóticas son empleadas habitualmente para la generación de claves gravito-inerciales en simuladores. Además del control de los actuadores, dichas plataformas deben ejecutar complejos algoritmos de control conocidos como algoritmos de washout, que deben ser ajustados para que el movimiento generado sea similar al simulado. El ajuste de dichos algoritmos es complejo por el elevado número de parámetros que poseen. Además, dicho ajuste se ha venido realizando tradicionalmente de modo manual mediante evaluaciones subjetivas. En este trabajo, los autores proponen un método automático de ajuste basado en optimización heurística, métricas objetivas, y simulación …
Hybrid electric vehicle powertrain design: Construction of topologies and initial design schemes
2018
This paper introduces the generic representation and construction methods for the architectures of the four-wheel-drive hybrid electric vehicle (HEV) powertrain, which achieve the unified rules to represent and construct all types of HEV powertrains. To map the architecture into numerical variables and add it into optimization, the kinematic matrix of the HEV powertrain is extracted corresponding to the topological structure. Based on the torque distribution requirement of four-wheel-drive HEV, the initial design schemes (architecture and parameters) are created by charge-under-go feasibility inspection.
A hybrid algorithm for planning public charging stations
2014
International audience; Green mobility solutions are receiving currently an enormous attention. Indeed, during last years, electric vehicles, being part of the field of the smart-grid, entered the automobile market of the whole world. This technology requires an effective deployment of charging stations of electric refill since the main problem in this system remains over the duration of refill of the batteries. In this work, we propose an optimized algorithm to locate electric charging stations. The main task of the algorithm is to find the best site of charging stations locations so as to minimize loss on the way to the charging station, as well as minimize investment cost, we take into a…
Predictive Energy Management for Hybrid Vehicles Based on Driving Cycle Recognition
2017
International audience; This article presents a novel approach to design an optimum energy management for a series plug-in hybrid electric vehicle based on driving cycle recognition. Thanks to an intensive study of driver habits, an important part of cycles is predictable. Optimized energy management can be developed for representative cycles via DP. Those results can be applied to the same cycle with slight adaptations thereafter with quality factors above 98%.