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Umberto Montanaro Shilp Dixit Mehrdad Dianati Alan Stevens David Oxtoby 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2019,57(6):779-814
Connected autonomous vehicles are considered as mitigators of issues such as traffic congestion, road safety, inefficient fuel consumption and pollutant emissions that current road transportation system suffers from. Connected autonomous vehicles utilise communication systems to enhance the performance of autonomous vehicles and consequently improve transportation by enabling cooperative functionalities, namely, cooperative sensing and cooperative manoeuvring. The former refers to the ability to share and fuse information gathered from vehicle sensors and road infrastructures to create a better understanding of the surrounding environment while the latter enables groups of vehicles to drive in a co-ordinated way which ultimately results in a safer and more efficient driving environment. However, there is a gap in understanding how and to what extent connectivity can contribute to improving the efficiency, safety and performance of autonomous vehicles. Therefore, the aim of this paper is to investigate the potential benefits that can be achieved from connected autonomous vehicles through analysing five use-cases: (i) vehicle platooning, (ii) lane changing, (iii) intersection management, (iv) energy management and (v) road friction estimation. The current paper highlights that although connectivity can enhance the performance of autonomous vehicles and contribute to the improvement of current transportation system performance, the level of achievable benefits depends on factors such as the penetration rate of connected vehicles, traffic scenarios and the way of augmenting off-board information into vehicle control systems. 相似文献
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RK Dixit GD Buckner 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2005,43(2):83-105
This paper investigates the application of robust, nonlinear observation and control strategies, namely sliding mode observation and control (SMOC), to semiactive vehicle suspensions using a model reference approach. The vehicle suspension models include realistic nonlinearities in the spring and magnetorheological (MR) damper elements, and the nonlinear reference models incorporate skyhook damping. Since full state measurement is difficult to achieve in practice, a sliding mode observer (SMO) that requires only suspension deflection as a measured input is developed. The performance and robustness of sliding mode control (SMC), SMO, and SMOC are demonstrated through comprehensive computer simulations and compared to popular alternatives. The results of these simulations reveal the benefits of sliding mode observation and control for improved ride quality, and should be directly transferable to commercial semiactive vehicle suspension implementations. 相似文献
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