Vehicle Dynamics and Control
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Contents nè
1. INTRODUCTION 1
1.1 Driver Assistance Systems 2
1.2 Active Stability Control Systems 2
1.3 Ride Quality 4
1.4 Technologies for Addressing Traffic Congestion 5
1.4.1 Automated highway systems 6
1.4.2 Traffic-friendly” adaptive cruise control 6
1.4.3 Narrow tilt-controlled commuter vehicles 7
1.5 Emissions and Fuel Economy 9
1.5.1 Hybrid electric vehicles 10
1.5.2 Fuel cell vehicles 11
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ix
References 11
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2. LATERAL VEHICLE DYNAMICS 15
2.1 Lateral Systems Under Commercial Development 15
2.1.1 Lane departure warning 16
2.1.2 Lane keeping systems 17
2.1.3 Yaw stability control systems 18
2.2 Kinematic Model of Lateral Vehicle Motion 20
2.3 Bicycle Model of Lateral Vehicle Dynamics 27
2.4 Motion of Particle Relative to a Rotating Frame 31
2.5 Dynamic Model in Terms of Error with Respect to Road 34
2.6 Dynamic Model in Terms of Yaw Rate and Slip Angle 37
2.7 From Body Fixed to Global Coordinates 39
2.8 Road Model 41
2.9 Chapter Summary