021 Design and Automatic Tuning of Fuzzy Logic Control for an Active Suspension System J.L. Yester, Jing Sun, Hui Wang, pp 95-98
027 A Preview Steering Control Strategy Based on Computer Vision for Automated Vehicle Highway Systems T. Inoue, K. Aoki, T. Suzuki, T. Yokoyama, pp 123-126
A control scheme for an active suspension system is developed using fuzzy logic. In contrast to the trial-and-error approach used in most fuzzy logic control (FLC) development, the focus of this research work is on developing systematic learning algorithms that can be used to fine-tune an FLC. A performance-based tuning algorithm is presented and used to adjust an FLC initially constructed using empirical intuition. Simulations are used to demonstrate the performance of the resulting controlsystem.
A vision-based lane-tracking control system using correlation image processing was developed for an automated vehicle highway system. Successful lane tracking along a cm-ved roadway was achieved by a preview steering control strategy based on LQ feedback control and adaptive feedforward control using a neural network.
022 Robust Sliding Mode Control of Semi-Active and Active Suspemlan for Private Cars S. Roukleh, A. Tltll, pp 99-104 This paper demonstrates the value of considering variablestructure system theory, for the design of semi-active and active Ssuspensions based on a quarter-car model and a full-car model. ome technological constraints on the actuator (which often has, for an adaptive suspension, both soft and hard damping) can then easily be taken into account.
028 RTI Vehicle Systems for Harmonised and Safe Traffic Problems, Solutions, Implementations U. Pulmquist, pp 127-130 The Intelligent Cruise Control system is an on-board system assisting the driver to adapt the speed of a vehicle to the desired speed, as well as to the distance and velocity of the preceding vehicle. The system can be further enhanced by short-range communication. Thereby, information such as speed recommendations and limits, or the status of traffic signals, can be transmitted from the roadside to the driver and his vehicle, for interpretation and appropriate actions.
023 Fuzzy Drive Expert System for an Automobile M. Maeda, S. Murakami, Y. Arakl, pp 105-108 This paper deals with a fuzzy drive expert system for an autocruise car. Tiffs system consists of four role sets: environment recognition rules, driving control rules, learning-evaluation rules, and management meta-rules. Those rules are, respectively, hierarchically constructed. Also, this system is structured into five units, the knowledge rule base, and a man-machine interface. The control unit manipulates the steering and the throttle to control the direction and the speed of the vehicle.
024 A u t o m t e d Vehide Control for IVHS Systems M. Tomlzuka, J.K. Hedrick, pp 109-112 This paper reviews the current research on Advanced Vehicle Control Systems (AVCS) for highway automation in the California PATH (Partners for Advanced Transit and Highways) program. These activities can be divided into two groups: longitudinal vehicle control and lateral vehicle control. The paper describes each of the activities, with a concentration on control methodologies and experimental evaluation studies conducted to date.
025 Adaptive Throttle Control for Automatic Vehide Fonowtag P. Ioannou, Z. Xu, pp 113-116 Electronic throttle control design is an important part of any Automated Vehicle Control System (AVCS). This paper describes an adaptive throttle control scheme for vehicle following under a constant time headway spacing policy. The scheme maintains a steady-state inter-vehicle spacing, decided by a desired time headway set by the driver. The vehicle is assumed to be equipped with sensors which can detect relative distance, relative speed and absolute vehicle speed. The design is based on a simplified linear model but is simulated with the full-order nonlinear model and tested on an actual vehicle. The simulated and tested results are included in this paper.
026 Steering Control Algorithms for Imdllgent Vehicles with Machtae Vision S. Tsugawa, K. Tomita, A. Hosaka, M. Tanlguchl, PiP 117-122 This paper presents two steering control algorithms for intelligent vehicles with a machine-vision system to detect lane lines or a reference line along a path for lateral control. In one algorithm steering control is given as a weighted sum of deviations at multiple points along the path, the locations of which are defined based on a human driver behaviour model. The other algorithm gives steering control by straightforward calculation, based on the whole reference line captured in the field of view. Experiments with the vehicles are shown.
029 Traffic Control Using Graph Theory Th. Riedei, U. Brmmer, pp 131-134 The' design of a controllerfor a trafficcrossingis presented. The objective is to minirnise the waiting time of the public transportation,while maintaining an optimal flow of individual traffic. The model of the chosen trafficcrossingis derived. Then, using a combination of "Dynamic Programming" and "Branch and Bound", the controlalgorithm is presented. A visualisationof the algorithm is given, complexity issues are investigated, and computational refinements proposed. The actual implementation of the control algorithm is under way in the city of Zurich. The work is part of a projectto provide trafficengineers with a tool for designing "intelligent"trafficlightcontrollers.
030 System Architectures for Complex Road Traffic Information and Control Systems M. Cremer, X. Zhang, pp 135-138 In tiffs paper a procedure for designing system architectures for innovative road traffic information and control systems is presented and illustrated, using dynamic route guidance as an application example. It is shown that the design procedure starts with a top-down functional analysis by which basic subfunctions and the relevant architectural elements are identified. On the basis of this analysis a synthesis procedure is outlined, using suitable tools from formal description techniques.
031 Automatic Control Methods Applied to Freeway Network Traflk A. Messmer, ]VL Papageorgiou, pp 139.144 The r presents a general state-space modeling approach for mulu-ongm, multl-destma~on freeway networks including several routes for each origin-destination pair. The problem of controlling variable direction signs at bifurcation locations so as to achieve system-optimal or user-optimal traffic conditions is formulated in control engineering terms. A number of well-known control strategies are suggested and tested by simulation, for a real, medium-sized freeway network.
032 Hierarchical Control Architecture for Real.tlme Traffic Management K.L. Head, P.D. Mlrchandanl, pp 145.148 The paper discusses issues in the design of a real-time traffic control system for an urban network, and proposes a design architecu~e that is based on a hierarchical decomposition of the overall control problem. The decision problem at each hierarchical level is discussed. The proposed architecture allows for a modular implementation of many of the subsystems within the control structure and the incorporation of new technologies (e.g., new vehicle sensors) when they become available.