Selected Publications

Nowadays, new technologies are pushing the road vehicle limits further. Promising applications, e.g., self-driving cars, require a suitable control system that can maintain the vehicle's stability in critical scenarios. In most of current cars, the control systems actuates independently, meaning there is not a coordination or data sharing between them. This approach can produce a conflict between these standalone controllers and thus, no improvements on the vehicle's stability are achieved or even a worse scenario can be generated. In order to overcome these problems, an integrated approach is developed in this work. This integration, defined in this work as Integrated Control (IC), is done by an intelligence coordination of all standalone controllers inside the vehicle, i.e., Anti-Lock Braking System (ABS), Electronic Stability Program (ESP) and Four-Wheel Steering System (4WS). The ABS model was built using Fuzzy logic, for which only three rules were necessary to get a good performance. To design the ESP and the 4WS, the simple handling vehicle model was used as a reference behavior. The IC was designed using the hierarchical approach with two layers, i.e., the upper and lower layer. The upper one, observes the side slip angle and depends of its value the upper layer triggers the ESP or the 4WS. Finally, in order to prove the improvements of the IC system over the non-integrated approach, a full-size vehicle model was used to perform simulation in run-off-road and mu-split scenarios.
In MuSMe 2017

Recent Publications

  • The Influence of Axle Kinematics on Vehicle Dynamics


  • Development of a robust integrated control system to improve the stability of road vehicles

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  • Use of integrated control to enhance the safety of vehicles in run-off-road scenarios

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  • Designing an integrated vehicle control based on a hierarchical architecture to improve the performance of ground vehicles

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  • A method to estimate parameters of longitudinal and lateral dynamics of ground vehicles

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  • Estimation of dynamic parameters of ground vehicles based on genetic algorithms

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Recent Posts

Description The suspension is an important mechanical system in road vehicles. A typical suspension system consist in links, control arms, bushing, spring, damper and bump-stop. The rigid parts, i.e. links and control arms determine the kinematic of the suspension and the force elements, i.e. spring, damper and bump-stop define the forces that the suspension, with a generalize motion (road irregularities), will apply to the chassis. We can see on Fig. 1, some common suspension systems in passenger cars.

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