J. Christian Gerdes
Professor of Mechanical Engineering, Emeritus
Bio
Chris Gerdes is a Professor of Mechanical Engineering at Stanford University and Co-Director of the Center for Automotive Research at Stanford (CARS). His laboratory studies how cars move, how humans drive cars and how to design future cars that work cooperatively with the driver or drive themselves. When not teaching on campus, he can often be found at the racetrack with students, trying out their latest prototypes for the future. Vehicles in the lab include X1, an entirely student-built test vehicle; Niki, a Volkswagen GTI capable of turning a competitive lap time around the track without a human driver; and Marty, our electrified, automated, drifting DeLorean. Chris' interests in vehicle safety extend to ethics and government policy, having helped to develop the US Federal Automated Vehicle Policy while serving as the first Chief Innovation Officer of the US Department of Transportation.
Administrative Appointments
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Chief Innovation Officer, United States Department of Transportation (2016 - 2017)
Honors & Awards
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Best Paper Award, 12th International Symposium on Advanced Vehicle Control (2014)
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Rudolf Kalman Award, ASME Dynamic Systems and Control Division (2013)
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Villa Ladenburg Fellowship, Daimler and Benz Foundation (2012-2014)
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Arch T. Colwell Merit Award, SAE International (2006)
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Rudolf Kalman Award, ASME Dynamic Systems and Control Division (2006)
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Ralph R. Teetor Educational Award, SAE International (2005)
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Samuel M. Burka Award, Institute of Navigation (2004)
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Best Paper Award, 6th International Symposium on Advanced Vehicle Control (2002)
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CAREER Award, National Science Foundation (2002)
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Presidential Early Career Award for Scientists and Engineers, National Science Foundation (2002)
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Frederick Emmons Terman Fellowship, Stanford University (1998-2001)
Professional Education
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BSE, University of Pennsylvania, Mechanical Engineering and Applied Mechanics (1990)
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BSEcon, University of Pennsylvania, Entrepreneurial Management (1990)
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MS, University of Pennsylvania, Mechanical Engineering and Applied Mechanics (1992)
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PhD, UC Berkeley, Mechanical Engineering (1996)
Patents
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J Switkes, J Gerdes, E Berdichevsky. "United States Patent 11,614,752 Vehicle platooning systems and methods", Peloton Technology, Inc., Mar 28, 2023
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J Switkes, J Gerdes, E Berdichevsky. "United States Patent 11,474,538 Methods and systems for semi-autonomous vehicular convoys", Peloton Technology, Inc., Oct 18, 2022
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J Switkes, J Gerdes. "United States Patent 10,732,645 Methods and systems for semi-autonomous vehicular convoys", Peloton Technology, Inc., Aug 4, 2020
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J Switkes, J Gerdes, E Berdichevsky. "United States Patent 10,481,614 Vehicle platooning systems and methods", Peloton Technology, Inc., Nov 19, 2019
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J Switkes, J Gerdes, E Berdichevsky. "United States Patent 10,281,927 Systems and methods for semi-autonomous vehicular convoys", Peloton Technology, Inc., May 7, 2019
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J Switkes, J Gerdes. "United States Patent 10,162,366 Methods and systems for semi-autonomous vehicular convoys", Peloton Technology, Inc., Dec 25, 2018
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J Switkes, J Gerdes. "United States Patent 10,042,365 Methods and systems for semi-autonomous vehicular convoys", Peloton Technology, Inc., Aug 7, 2018
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J Switkes, J Gerdes, E Berdichevsky. "United States Patent 9,665,102 Systems and methods for semi-autonomous vehicular convoys", Peloton Technology, Inc., May 30, 2017
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J Switkes, J Gerdes, D Lyons, S Boyd, E Berdichevsky. "United States Patent 9,645,579 Vehicle platooning systems and methods", Peloton Technology, Inc., May 9, 2017
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J Switkes, J Gerdes, E Berdichevsky. "United States Patent 9,582,006 Systems and methods for semi-autonomous convoying of vehicles", Peloton Technology, Inc., Feb 28, 2017
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J Switkes, J Gerdes, E Berdichevsky. "United States Patent 8,744,666 Systems and methods for semi-autonomous vehicular convoys", Peloton Technology, Inc., Jun 3, 2014
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S Joe, Y Deguchi, Y-H Hsu, S Laws, J Gerdes. "United States Patent 7,845,218 Tire state estimator and tire state estimation method", Nissan Motor Co., Ltd., Leland Stanford Junior University, Dec 7, 2010
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D Bevly, J Gerdes. "United States Patent 6,681,180 Determination and control of vehicle sideslip using GPS", Leland Stanford Junior University, Jan 20, 2004
2024-25 Courses
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Independent Studies (8)
- Engineering Problems
ME 391 (Spr) - Engineering Problems and Experimental Investigation
ME 191 (Spr) - Experimental Investigation of Engineering Problems
ME 392 (Aut, Win, Spr) - Honors Research
ME 191H (Spr) - Ph.D. Research Rotation
ME 398 (Spr) - Ph.D. Teaching Experience
ME 491 (Spr) - Practical Training
ME 299A (Spr) - Practical Training
ME 299B (Spr)
- Engineering Problems
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Prior Year Courses
2021-22 Courses
- Ethics and Equity in Transportation Systems
ME 267 (Win)
- Ethics and Equity in Transportation Systems
Stanford Advisees
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Doctoral Dissertation Advisor (AC)
Rajan Aggarwal, Nicholas Broadbent, Trey Weber -
Doctoral (Program)
Rajan Aggarwal
All Publications
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Modeling and Control for Dynamic Drifting Trajectories
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
2024; 9 (2): 3731-3741
View details for DOI 10.1109/TIV.2023.3340918
View details for Web of Science ID 001215322100047
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Shared Control Up to the Limits of Vehicle Handling
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
2024; 9 (1): 2977-2987
View details for DOI 10.1109/TIV.2023.3300989
View details for Web of Science ID 001173317800246
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Exploiting Linear Structure for Precision Control of Highly Nonlinear Vehicle Dynamics
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
2023; 8 (2): 1852-1862
View details for DOI 10.1109/TIV.2022.3171734
View details for Web of Science ID 000965169000001
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High Speed Emulation in a Vehicle-in-the-Loop Driving Simulator
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
2023; 8 (2): 1826-1836
View details for DOI 10.1109/TIV.2022.3162549
View details for Web of Science ID 000965936100001
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Learning Policies for Automated Racing Using Vehicle Model Gradients
IEEE OPEN JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS
2023; 4: 130-142
View details for DOI 10.1109/OJITS.2023.3237977
View details for Web of Science ID 000935654200001
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Long-Horizon Vehicle Planning and Control Through Real-Time Iterations
IEEE. 2023
View details for DOI 10.1109/IV55152.2023.10186610
View details for Web of Science ID 001042247300078
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Neural networks overtake humans in a racing game
NATURE
2022; 602 (7896): 213-214
View details for DOI 10.1038/d41586-022-00304-2
View details for Web of Science ID 000753550800009
View details for PubMedID 35140381
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Long-Horizon Vehicle Motion Planning and Control Through Serially Cascaded Model Complexity
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2022; 30 (1): 166-179
View details for DOI 10.1109/TCST.2021.3056315
View details for Web of Science ID 000730508400015
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Combining Virtual Reality and Steer-by-Wire Systems to Validate Driver Assistance Concepts
IEEE. 2022: 1709-1715
View details for DOI 10.1109/IV51971.2022.9827282
View details for Web of Science ID 000854106700241
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Neural Network Model Predictive Motion Control Applied to Automated Driving With Unknown Friction
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2021
View details for DOI 10.1109/TCST.2021.3130225
View details for Web of Science ID 000732366300001
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Impacts of Model Fidelity on Trajectory Optimization for Autonomous Vehicles in Extreme Maneuvers
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
2021; 6 (3): 546-558
View details for DOI 10.1109/TIV.2021.3051325
View details for Web of Science ID 000692131000016
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Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios
IEEE TRANSACTIONS ON ROBOTICS
2021; 37 (4): 1313-1325
View details for DOI 10.1109/TRO.2020.3047521
View details for Web of Science ID 000682134200019
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Optimal Decision Making for Automated Vehicles Using Homotopy Generation and Nonlinear Model Predictive Control
IEEE. 2021: 1045-1050
View details for DOI 10.1109/IV48863.2021.9575302
View details for Web of Science ID 000782373100149
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On infusing reachability-based safety assurance within planning frameworks for human-robot vehicle interactions
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2020
View details for DOI 10.1177/0278364920950795
View details for Web of Science ID 000563027000001
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Learning at the Racetrack: Data-Driven Methods to Improve Racing Performance Over Multiple Laps
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
2020; 69 (8): 8232–42
View details for DOI 10.1109/TVT.2020.2998065
View details for Web of Science ID 000560695700015
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Towards Automated Vehicle Control Beyond the Stability Limits: Drifting Along a General Path
ASME Journal of Dynamic Systems, Measurement and Control
2020; 142 (2)
View details for DOI 10.1115/1.4045320
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Opening New Dimensions: Vehicle Motion Planning and Control using Brakes while Drifting
IEEE. 2020: 560-565
View details for Web of Science ID 000653124200086
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Robust Stabilization and Collision Avoidance through Minimizing Open-Loop Velocity Uncertainty
IEEE. 2020: 259-264
View details for Web of Science ID 000653124200042
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The Virtues of Automated Vehicle Safety - Mapping Vehicle Safety Approaches to Their Underlying Ethical Frameworks
IEEE. 2020: 107-113
View details for Web of Science ID 000653124200018
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On Infusing Reachability-Based Safety Assurance Within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions
SPRINGER INTERNATIONAL PUBLISHING AG. 2020: 561-574
View details for DOI 10.1007/978-3-030-33950-0_48
View details for Web of Science ID 000656149800048
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Vehicle control synthesis using phase portraits of planar dynamics
VEHICLE SYSTEM DYNAMICS
2019; 57 (9): 1318–37
View details for DOI 10.1080/00423114.2018.1502456
View details for Web of Science ID 000473512500004
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Neural network vehicle models for high-performance automated driving
SCIENCE ROBOTICS
2019; 4 (28)
View details for DOI 10.1126/scirobotics.aaw1975
View details for Web of Science ID 000464024300008
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Neural network vehicle models for high-performance automated driving.
Science robotics
2019; 4 (28)
Abstract
Automated vehicles navigate through their environment by first planning and subsequently following a safe trajectory. To prove safer than human beings, they must ultimately perform these tasks as well or better than human drivers across a broad range of conditions and in critical situations. We show that a feedforward-feedback control structure incorporating a simple physics-based model can be used to track a path up to the friction limits of the vehicle with performance comparable with a champion amateur race car driver. The key is having the appropriate model. Although physics-based models are useful in their transparency and intuition, they require explicit characterization around a single operating point and fail to make use of the wealth of vehicle data generated by autonomous vehicles. To circumvent these limitations, we propose a neural network structure using a sequence of past states and inputs motivated by the physical model. The neural network achieved better performance than the physical model when implemented in the same feedforward-feedback control architecture on an experimental vehicle. More notably, when trained on a combination of data from dry roads and snow, the model was able to make appropriate predictions for the road surface on which the vehicle was traveling without the need for explicit road friction estimation. These findings suggest that the network structure merits further investigation as the basis for model-based control of automated vehicles over their full operating range.
View details for DOI 10.1126/scirobotics.aaw1975
View details for PubMedID 33137751
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A Hybrid Control Design for Autonomous Vehicles at Uncontrolled Crosswalks
IEEE. 2019: 1604–11
View details for Web of Science ID 000508184100211
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Contingency Model Predictive Control for Automated Vehicles
IEEE. 2019: 717-722
View details for Web of Science ID 000589452900113
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Contingency Model Predictive Control for Automated Vehicles
American Control Conference
2019
View details for DOI 10.23919/ACC.2019.8815260
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From the Racetrack to the Road: Real-Time Trajectory Replanning for Autonomous Driving
IEEE Transactions on Intelligent Vehicles
2019; 4 (2): 309-320
View details for DOI 10.1109/TIV.2019.2904390
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Toward Closing the Loop on Human Values
IEEE Transactions on Intelligent Vehicles
2019; 4 (3): 437-446
View details for DOI 10.1109/TIV.2019.2919471
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Coordinating Tire Forces to Avoid Obstacles Using Nonlinear Model Predictive Control
IEEE Transactions on Intelligent Vehicles
2019; 5 (1): 21-31
View details for DOI 10.1109/TIV.2019.2955362
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Designing Automated Vehicles Around Human Values.
Road Vehicle Automation 6. AVS 2019.
edited by Meyer, G., Beiker, S.
Springer. 2019
View details for DOI 10.1007/978-3-030-22933-7_5
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Game Theoretic Planning for Self-Driving Cars in Competitive Scenarios
MIT PRESS. 2019
View details for Web of Science ID 000570976800047
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Mind over motor mapping: Driver response to changing vehicle dynamics
HUMAN BRAIN MAPPING
2018; 39 (10): 3915–27
View details for DOI 10.1002/hbm.24220
View details for Web of Science ID 000443941200008
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Mind over motor mapping: Driver response to changing vehicle dynamics.
Human brain mapping
2018
Abstract
Improvements in vehicle safety require understanding of the neural systems that support the complex, dynamic task of real-world driving. We used functional near infrared spectroscopy (fNIRS) and pupilometry to quantify cortical and physiological responses during a realistic, simulated driving task in which vehicle dynamics were manipulated. Our results elucidate compensatory changes in driver behavior in response to changes in vehicle handling. We also describe associated neural and physiological responses under different levels of mental workload. The increased cortical activation we observed during the late phase of the experiment may indicate motor learning in prefrontal-parietal networks. Finally, relationships among cortical activation, steering control, and individual personality traits suggest that individual brain states and traits may be useful in predicting a driver's response to changes in vehicle dynamics. Results such as these will be useful for informing the design of automated safety systems that facilitate safe and supportive driver-car communication.
View details for PubMedID 29885097
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Value Sensitive Design for Autonomous Vehicle Motion Planning
IEEE. 2018: 1157-1162
View details for Web of Science ID 000719424500182
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Analysis of Feasible Tire Force Regions for Optimal Tire Force Allocation with Limited Actuation
IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE
2017; 9 (3): 75–87
View details for DOI 10.1109/MITS.2017.2709879
View details for Web of Science ID 000406422800009
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Neural, physiological, and behavioral correlates of visuomotor cognitive load.
Scientific reports
2017; 7 (1): 8866
Abstract
Visuomotor ability is quite crucial for everyday functioning, particularly in driving and sports. While there is accumulating evidence regarding neural correlates of visuomotor transformation, less is known about the brain regions that accommodate visuomotor mapping under different cognitive demands. We concurrently measured cortical activity and pupillary response, using functional near infrared spectroscopy (fNIRS) and eye-tracking glasses, to examine the neural systems linked to pupil dilation under varying cognitive demands. Twenty-three healthy adults performed two sessions of a navigation task, in which the cognitive load was manipulated by either reversing the visuomotor mapping or increasing the speed of the moving object. We identified a region in the right superior parietal lobule that responded to both types of visuomotor load and its activity was associated with larger pupillary response and better performance in the task. Our multimodal analyses suggest that activity in this region arises from the need for increased attentional effort and alertness for visuomotor control and is an ideal candidate for objective measurement of visuomotor cognitive load. Our data extend previous findings connecting changes in pupil diameter to neural activity under varying cognitive demand and have important implications for examining brain-behavior associations in real-world tasks such as driving and sports.
View details for DOI 10.1038/s41598-017-07897-z
View details for PubMedID 28821719
View details for PubMedCentralID PMC5562732
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Collision Avoidance and Stabilization for Autonomous Vehicles in Emergency Scenarios
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2017; 25 (4): 1204–16
View details for DOI 10.1109/TCST.2016.2599783
View details for Web of Science ID 000403496000005
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Incorporating Ethical Considerations Into Automated Vehicle Control
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
2017; 18 (6): 1429–39
View details for DOI 10.1109/TITS.2016.2609339
View details for Web of Science ID 000402724400009
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Safe driving envelopes for path tracking in autonomous vehicles
CONTROL ENGINEERING PRACTICE
2017; 61: 307-316
View details for DOI 10.1016/j.conengprac.2016.04.013
View details for Web of Science ID 000399628600027
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Insights into vehicle trajectories at the handling limits: analysing open data from race car drivers
VEHICLE SYSTEM DYNAMICS
2017; 55 (2): 191-207
View details for DOI 10.1080/00423114.2016.1249893
View details for Web of Science ID 000389323800003
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Path-Tracking for Autonomous Vehicles at the Limit of Friction
IEEE. 2017: 5586–91
View details for Web of Science ID 000427033305106
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Biomimetic Creatures Teach Mechanical Systems Design
SPRINGER INTERNATIONAL PUBLISHING AG. 2017
View details for DOI 10.1007/978-3-319-63537-8_47
View details for Web of Science ID 000926015800047
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A Synthetic Input Approach to Slip Angle Based Steering Control for Autonomous Vehicles
IEEE. 2017: 2297–2302
View details for Web of Science ID 000427033302059
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Design of Variable Vehicle Handling Characteristics Using Four-Wheel Steer-by-Wire
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2016; 24 (5): 1529-1540
View details for DOI 10.1109/TCST.2015.2498134
View details for Web of Science ID 000381506100001
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A Sequential Two-Step Algorithm for Fast Generation of Vehicle Racing Trajectories
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2016; 138 (9)
View details for DOI 10.1115/1.4033311
View details for Web of Science ID 000382747500005
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Shared Steering Control Using Safe Envelopes for Obstacle Avoidance and Vehicle Stability
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
2016; 17 (2): 441-451
View details for DOI 10.1109/TITS.2015.2453404
View details for Web of Science ID 000370531000014
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Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2016; 138 (2)
View details for DOI 10.1115/1.4032033
View details for Web of Science ID 000367549700002
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Predictive Haptic Feedback for Obstacle Avoidance Based on Model Predictive Control
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
2016; 13 (1): 26-31
View details for DOI 10.1109/TASE.2015.2498924
View details for Web of Science ID 000374443300005
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Prescriptive and Proscriptive Moral Regulation for Autonomous Vehicles in Approach and Avoidance
IEEE. 2016
View details for Web of Science ID 000389198500010
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Motor learning affects car-to-driver handover in automated vehicles.
Science robotics
2016; 1 (1)
Abstract
Vehicles in the foreseeable future will be required to transition between autonomous driving (without human involvement) and full human control. During this transition period, the human, who has not been actively engaged in the driving process, must resume the motor control necessary to steer the car. The in-car study presented here demonstrates that when human drivers are presented with a steering behavior that is different from the last time they were in control, specifically the ratio of hand wheel angle to road wheel angle (emulating a change in vehicle speed), they undergo a significant period of adaptation before they return to their previous steering behavior. However, drivers do not require an adaptation period to return to previous driving behavior after changes in steering torque. These findings have implications for the design of vehicles that transition from automated to manual driving and for understanding of human motor control in real-world tasks.
View details for DOI 10.1126/scirobotics.aah5682
View details for PubMedID 33157857
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A SEQUENTIAL TWO-STEP ALGORITHM FOR FAST GENERATION OF VEHICLE RACING TRAJECTORIES
AMER SOC MECHANICAL ENGINEERS. 2016
View details for Web of Science ID 000377639200071
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Autonomous Driving - Technical, Legal and Social Aspects
edited by Maurer, M., Gerdes, J. C., Lenz, B., Winner, H.
Springer. 2016
View details for DOI 10.1007/978-3-662-48847-8
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Simultaneous Stabilization and Tracking of Basic Automobile Drifting Trajectories
IEEE. 2016: 597–602
View details for Web of Science ID 000390845600096
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Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling
VEHICLE SYSTEM DYNAMICS
2015; 53 (12): 1687-1704
View details for DOI 10.1080/00423114.2015.1055279
View details for Web of Science ID 000365709800001
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An analytical method for reducing combustion instability in homogeneous charge compression ignition engines through cycle-to-cycle control
INTERNATIONAL JOURNAL OF ENGINE RESEARCH
2015; 16 (3): 485-500
View details for DOI 10.1177/1468087414557052
View details for Web of Science ID 000351751500014
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Designing Steering Feel for Steer-by-Wire Vehicles Using Objective Measures
IEEE-ASME TRANSACTIONS ON MECHATRONICS
2015; 20 (1): 373-383
View details for DOI 10.1109/TMECH.2014.2324593
View details for Web of Science ID 000352060700037
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Autonomes Fahren - Technische, rechtliche und gesellschaftliche Aspekte
edited by Maurer, M., Gerdes, J. C., Lenz, B., Winner, H.
Springer Vieweg. 2015
View details for DOI 10.1007/978-3-662-45854-9
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Path Tracking of Highly Dynamic Autonomous Vehicle Trajectories via Iterative Learning Control
IEEE. 2015: 2753–58
View details for Web of Science ID 000370259202139
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Autonomous Vehicle Control for Emergency Maneuvers: The Effect of Topography
IEEE. 2015: 1405–10
View details for Web of Science ID 000370259201080
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Cooperative Collision Avoidance via Proximal Message Passing
IEEE. 2015: 4124–30
View details for Web of Science ID 000370259204038
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Creating Predictive Haptic Feedback For Obstacle Avoidance Using a Model Predictive Control (MPC) Framework
IEEE. 2015: 31–36
View details for Web of Science ID 000380565800006
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Prioritizing Collision Avoidance and Vehicle Stabilization for Autonomous Vehicles
IEEE. 2015: 1134–39
View details for Web of Science ID 000380565800184
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Optimal tire force allocation for trajectory tracking with an over-actuated vehicle
IEEE. 2015: 1032–37
View details for Web of Science ID 000380565800168
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Implementable Ethics for Autonomous Vehicles
Autonomes Fahren
edited by Maurer, M., Gerdes, J. C., Lenz, B., Winner, H.
Springer Vieweg. 2015
View details for DOI 10.1007/978-3-662-45854-9_5
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A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2014; 136 (5)
View details for DOI 10.1115/1.4027471
View details for Web of Science ID 000340615600015
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Hybrid Model Predictive Control of Exhaust Recompression Hcci
ASIAN JOURNAL OF CONTROL
2014; 16 (2): 370-381
View details for DOI 10.1002/asjc.725
View details for Web of Science ID 000332412100006
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Incorporating Non-Linear Tire Dynamics into a Convex Approach to Shared Steering Control
American Control Conference
IEEE. 2014: 3468–3473
View details for Web of Science ID 000346492604008
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THE VIRTUAL WHEEL CONCEPT FOR SUPPORTIVE STEERING FEEDBACK DURING ACTIVE STEERING INTERVENTIONS
AMER SOC MECHANICAL ENGINEERS. 2014
View details for Web of Science ID 000361166800061
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Low Friction Emulation of Lateral Vehicle Dynamics Using Four-Wheel Steer-by-Wire
American Control Conference
IEEE. 2014: 3924–3929
View details for Web of Science ID 000346492604083
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Multicylinder HCCI Control With Coupled Valve Actuation Using Model Predictive Control
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2013; 135 (5)
View details for DOI 10.1115/1.4024299
View details for Web of Science ID 000326090400018
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Model Predictive Control for Vehicle Stabilization at the Limits of Handling
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2013; 21 (4): 1258-1269
View details for DOI 10.1109/TCST.2012.2200826
View details for Web of Science ID 000320717600020
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Staying within the nullcline boundary for vehicle envelope control using a sliding surface
VEHICLE SYSTEM DYNAMICS
2013; 51 (2): 199-217
View details for DOI 10.1080/00423114.2012.720377
View details for Web of Science ID 000313419200002
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Control of recompression HCCI with a three region switching controller
CONTROL ENGINEERING PRACTICE
2013; 21 (2): 135-145
View details for DOI 10.1016/j.conengprac.2012.09.003
View details for Web of Science ID 000314077900001
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MULTI-CYLINDER HCCI CONTROL WITH CAM PHASER VARIABLE VALVE ACTUATION USING MODEL PREDICTIVE CONTROL
5th Annual Dynamic Systems and Control Division Conference / 11th JSME Motion and Vibration Conference
AMER SOC MECHANICAL ENGINEERS. 2013: 823–831
View details for Web of Science ID 000323918000099
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SIMPLE CLOTHOID PATHS FOR AUTONOMOUS VEHICLE LANE CHANGES AT THE LIMITS OF HANDLING
ASME Dynamic Systems and Control Conference (DSCC)
AMER SOC MECHANICAL ENGINEERS. 2013
View details for Web of Science ID 000338124000078
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USING A PATH-FITTING ALGORITHM TO ANALYZE THE RACING TECHNIQUES OF A SKILLED DRIVER
ASME Dynamic Systems and Control Conference (DSCC)
AMER SOC MECHANICAL ENGINEERS. 2013
View details for Web of Science ID 000338124000081
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NONLINEAR OPTIMIZATION OF A RACING LINE FOR AN AUTONOMOUS RACECAR USING PROFESSIONAL DRIVING TECHNIQUES
5th Annual Dynamic Systems and Control Division Conference / 11th JSME Motion and Vibration Conference
AMER SOC MECHANICAL ENGINEERS. 2013: 235–241
View details for Web of Science ID 000323918100027
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Modeling and Control of Exhaust Recompression HCCI SPLIT FUEL INJECTION FOR CYLINDER-INDIVIDUAL COMBUSTION CONTROL
IEEE CONTROL SYSTEMS MAGAZINE
2012; 32 (4): 26-42
View details for DOI 10.1109/MCS.2012.2194840
View details for Web of Science ID 000306644000005
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Model predictive control of HCCI using variable valve actuation and fuel injection
IFAC Symposium on Advanced Control of Chemical Processes (ADCHEM)
PERGAMON-ELSEVIER SCIENCE LTD. 2012: 421–30
View details for DOI 10.1016/j.conengprac.2011.12.002
View details for Web of Science ID 000301890500010
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Sliding Surface Vehicle Envelope Control: A Cooperative Design Between Controller and Envelope
American Control Conference (ACC)
IEEE COMPUTER SOC. 2012: 6521–6526
View details for Web of Science ID 000310776206135
- Nonlinear optimization of a racing line for an autonomous racecar using professional driving techniques 2012
- Modeling and control of exhaust recompression HCCI: split fuel injection for cylinder-individual combustion control IEEE Control Systems Magazine 2012; 4 (32): 26-42
- Multi-Cylinder HCCI Control with Cam Phaser Variable Valve Actuation Using Model Predictive Control 2012
- Autonomous vehicle control at the limits of handling International Journal of Vehicle Autonomous Systems 2012; 4 (10): 271-296
- Using the center of percussion to design a steering controller for an autonomous race car Vehicle System Dynamics, 50 (Supplement) 2012: 33-51
- Analysis of Measured Racing Lines: A Path Primitive Based Curve Fitting Approach 2012
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Up to the Limits: Autonomous Audi TTS
IEEE Intelligent Vehicles Symposium (IV)
IEEE. 2012: 541–547
View details for Web of Science ID 000309167700089
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CONTROLLING VEHICLE INSTABILITY THROUGH STABLE HANDLING ENVELOPES
ASME Dynamic Systems and Control Conference / Bath/ASME Symposium on Fluid Power and Motion Control
AMER SOC MECHANICAL ENGINEERS. 2012: 861–868
View details for Web of Science ID 000321985400118
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COMBUSTION PHASING VARIATION REDUCTION FOR LATE-PHASING HCCI THROUGH CYCLE-TO-CYCLE PILOT INJECTION TIMING CONTROL
ASME Dynamic Systems and Control Conference / Bath/ASME Symposium on Fluid Power and Motion Control
AMER SOC MECHANICAL ENGINEERS. 2012: 685–692
View details for Web of Science ID 000321985400094
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Using the centre of percussion to design a steering controller for an autonomous race car
22nd Symposium of the International-Association-of-Vehicle-System-Dynamics (IAVSD)
TAYLOR & FRANCIS LTD. 2012: 33–51
View details for DOI 10.1080/00423114.2012.672842
View details for Web of Science ID 000306605100004
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Late Phasing Homogeneous Charge Compression Ignition Cycle-to-Cycle Combustion Timing Control With Fuel Quantity Input
American Control Conference (ACC)
IEEE COMPUTER SOC. 2012: 2078–2083
View details for Web of Science ID 000310776202061
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Modeling and Control of an Exhaust Recompression HCCI Engine Using Split Injection
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2012; 134 (1)
View details for DOI 10.1115/1.4004787
View details for Web of Science ID 000299123800016
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A CONTROLLER FRAMEWORK FOR AUTONOMOUS DRIFTING: DESIGN, STABILITY, AND EXPERIMENTAL VALIDATION
ASME Dynamic Systems and Control Conference / Bath/ASME Symposium on Fluid Power and Motion Control
AMER SOC MECHANICAL ENGINEERS. 2012: 901–908
View details for Web of Science ID 000321985400123
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GENERATING A RACING LINE FOR AN AUTONOMOUS RACECAR USING PROFESSIONAL DRIVING TECHNIQUES
ASME Dynamic Systems and Control Conference / Bath/ASME Symposium on Fluid Power and Motion Control
AMER SOC MECHANICAL ENGINEERS. 2012: 853–860
View details for Web of Science ID 000321985400117
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Implementation and Analysis of a Repetitive Controller for an Electro-Hydraulic Engine Valve System
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2011; 19 (5): 1102-1113
View details for DOI 10.1109/TCST.2010.2076387
View details for Web of Science ID 000293982200012
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Pushing the limits: From lanekeeping to autonomous racing
ANNUAL REVIEWS IN CONTROL
2011; 35 (1): 137-148
View details for DOI 10.1016/j.arcontrol.2011.03.009
View details for Web of Science ID 000291337800010
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Control of Exhaust Recompression HCCI using Hybrid Model Predictive Control
American Control Conference (ACC)
IEEE. 2011: 420–425
View details for Web of Science ID 000295376000069
- Combustion Phasing Variation Reduction for Late-phasing HCCI Through Cycle-to-cycle Pilot Injecion Timing Control 2011
- Driftkeeping: Path tracking at the friction limits using high sideslip cornering 2011
- Using the center of percussion to generate feedforward steering for an autonomous race car 2011
- Controlling Vehicle Instability Through Stable Handling Envelopes 2011
- Implementation and analysis of a repetitive controller for an electo-hydraulic engine valve system IEEE Transactions on Control Systems Technology 2011; 5 (19): 1102-1113
- A controller framework for autonomous drifting: Design, stability, and experimental validation 2011
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Model-Based Control of HCCI Engines Using Exhaust Recompression
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2010; 18 (6): 1289-1302
View details for DOI 10.1109/TCST.2009.2036599
View details for Web of Science ID 000283450800005
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Estimation of Tire Slip Angle and Friction Limits Using Steering Torque
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2010; 18 (4): 896-907
View details for DOI 10.1109/TCST.2009.2031099
View details for Web of Science ID 000278997400012
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Representing Recompression HCCI Dynamics with a Switching Linear Model
American Control Conference
IEEE. 2010: 3803–3808
View details for Web of Science ID 000287187904032
- Experimental Validation of a Linear Model Predictive Envelope Controller in the Presence of Vehicle Nonlinearities 2010
- Controlling Combustion Phasing of Recompression HCCI with a Switching Controller 2010
- Mid-Ranging Control of a Multi-Cylinder HCCI Engine Using Split Fuel Injection and Valve Timings 2010
- Autonomous Cornering at the Limits: Maximizing a ‘g-g’ Diagram by Using Feedforward Trail-Braking and Throttle-On-Exit 2010
- Envelope Control: Stabilizing within the Limits of Handling Using a Sliding Surface 2010
- Autonomous Cornering at the Limits: Designing a Longitudinal Feedback Controller Using a Tire Slip Circle 2010
- Model based control of HCCI engines using exhaust recompression IEEE Transactions on Control Systems Technology 2010; 6 (18): 1289-1302
- Design of a Dynamic Surface Controller for Vehicle Sideslip Angle During Autonomous Drifting 2010
- Reducing Combustion Variation of Late-Phasing HCCI with Cycle-To-Cycle Exhaust Valve Timing Control 2010
- Predictive control of vehicle roll dynamics with rear wheelsteering 2010
- Autonomous Cornering at the Limits: Designing a Longitudinal Feedback Controller Using a Tire Slip Circle 2010
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A METHOD FOR INCORPORATING NONLINEAR TIRE BEHAVIOR INTO MODEL PREDICTIVE CONTROL FOR VEHICLE STABILITY
ASME Dynamic Systems and Control Conference
AMER SOC MECHANICAL ENGINEERS. 2010: 157–164
View details for Web of Science ID 000319789100021
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SLIDING SURFACE ENVELOPE CONTROL: KEEPING THE VEHICLE WITHIN A SAFE STATE-SPACE BOUNDARY
ASME Dynamic Systems and Control Conference
AMER SOC MECHANICAL ENGINEERS. 2010: 149–156
View details for Web of Science ID 000319789100020
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PHYSICAL MODELING AND CONTROL OF A MULTI-CYLINDER HCCI ENGINE
2nd Annual Dynamic Systems and Control Conference (DSCC 2009)/Bath/ASME Symposium on Fluid Power and Motion Control
AMER SOC MECHANICAL ENGINEERS. 2010: 549–556
View details for Web of Science ID 000279952600071
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CONTROLLING AN AUTONOMOUS RACING VEHICLE: USING FEEDFORWARD AND FEEDBACK TO CONTROL STEERING AND SPEED
2nd Annual Dynamic Systems and Control Conference (DSCC 2009)/Bath/ASME Symposium on Fluid Power and Motion Control
AMER SOC MECHANICAL ENGINEERS. 2010: 173–180
View details for Web of Science ID 000279952600024
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Analysis and control of high sideslip manoeuvres
VEHICLE SYSTEM DYNAMICS
2010; 48: 317-336
View details for DOI 10.1080/00423111003746140
View details for Web of Science ID 000284639100020
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Modeling and control of exhaust recompression HCCI using split injection
American Control Conference
IEEE. 2010: 3797–3802
View details for Web of Science ID 000287187904031
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EQUILIBRIUM ANALYSIS OF DRIFTING VEHICLES FOR CONTROL DESIGN
2nd Annual Dynamic Systems and Control Conference (DSCC 2009)/Bath/ASME Symposium on Fluid Power and Motion Control
AMER SOC MECHANICAL ENGINEERS. 2010: 181–188
View details for Web of Science ID 000279952600025
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ENHANCING VEHICLE STABILITY THROUGH MODEL PREDICTIVE CONTROL
2nd Annual Dynamic Systems and Control Conference (DSCC 2009)/Bath/ASME Symposium on Fluid Power and Motion Control
AMER SOC MECHANICAL ENGINEERS. 2010: 197–204
View details for Web of Science ID 000279952600027
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PREDICTIVE CONTROL OF VEHICLE ROLL DYNAMICS WITH REAR WHEEL STEERING
American Control Conference
IEEE. 2010: 1489–1494
View details for Web of Science ID 000287187901143
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Physics-Based Modeling and Control of Residual-Affected HCCI Engines
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2009; 131 (2)
View details for DOI 10.1115/1.3023125
View details for Web of Science ID 000265526900002
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LANEKEEPING AT THE LIMITS OF HANDLING: STABILITY VIA LYAPUNOV FUNCTIONS AND A COMPARISON WITH STABILITY CONTROL
1st Annual Dynamic Systems and Control Conference (DSCC 2008)
AMER SOC MECHANICAL ENGINEERS. 2009: 1161–1168
View details for Web of Science ID 000266709500147
- Analysis and Control of High Sideslip Maneuvers 2009
- Rollover event prevention through predictive control of coordinated actuators 2009
- Steer-by-wire suspension design: geometries to enhance peak tire force estimation 2009
- Controlling an Autonomous Racing Vehicle: Using Feedforward and Feedback to Control Steering and Speed 2009
- Envelope control: keeping the vehicle within its handling limits using front steering 2009
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Robust fault detection filter design with applications to steer-by-wire vehicles
ASME International Mechanical Engineering Congress and Exposition
AMER SOC MECHANICAL ENGINEERS. 2008: 215–223
View details for Web of Science ID 000255101700024
- Changing lanes with active lanekeeping assistance: a simulator study Human Factors for assistance and automation edited by de Waard, D., Flemisch, F., Lorenz, B. Shaker Publishing, Maastricht, the Netherlands. 2008: 1
- Lanekeeping at the Handling Limits 2008
- Design and Tests of a Controller for Autonomous Vehicle Path Tracking Using GPS/INS Sensors 2008
- The Jacobian Expression of Roll Center: Derivation and Interpretation with Application to a Suspension with Active Camber 2008
- Lanekeeping at the Limits of Handling: Stability via Lyapunov Functions and a Comparison with Stability Control 2008
- The Predictive Nature of Pneumatic Trail: Tire Slip Angle and Peak Force Estimation using Steering Torque 2008
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Controller-observer implementation for cycle-by-cycle control of an HCCI engine
ASME International Mechanical Engineering Congress and Exposition
AMER SOC MECHANICAL ENGINEERS. 2008: 177–185
View details for Web of Science ID 000255101700020
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Estimating thermodynamic state and ignition in HCCI with variable fuel injection timing
ASME International Mechanical Engineering Congress and Exposition
AMER SOC MECHANICAL ENGINEERS. 2008: 195–204
View details for Web of Science ID 000255101700022
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Transient responses of alternative vehicle configurations: A theoretical and experimental study on the effects of atypical moments of inertia
American Control Conference 2008
IEEE. 2008: 230–235
View details for Web of Science ID 000259261500041
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Repetitive control of an electro-hydraulic engine valve actuation system
American Control Conference 2008
IEEE. 2008: 975–980
View details for Web of Science ID 000259261500163
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Generating diagnostic residuals for steer-by-wire vehicles
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2007; 15 (3): 529-540
View details for DOI 10.1109/TCST.2007.894650
View details for Web of Science ID 000246192300014
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Experimental vehicle handling modification through steer-by-wire and differential drive
26th American Control Conference
IEEE. 2007: 3814–3819
View details for Web of Science ID 000252258802160
- Driver Response to Steering Torque Disturbances: A User Study on Assisted Lane-keeping 2007
- Degenerate Mechanical Systems – A Framework for Tracking Control 2007
- Model Based Control of Exhaust Recompression HCCI 2007
- Experimental Studies of Using Steering Torque Under Various Road Conditions for Sideslip and Friction Estimation 2007
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Degenerate mechanical systems - A framework for tracking control
26th American Control Conference
IEEE. 2007: 3729–3734
View details for Web of Science ID 000252258802146
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Integrating INS sensors with GPS measurements for continuous estimation of vehicle sideslip, roll, and tire cornering stiffness
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
2006; 7 (4): 483-493
View details for DOI 10.1109/TITS.2006.883110
View details for Web of Science ID 000242814300011
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Lyapunov based performance guarantees for the potential field lane-keeping assistance system
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2006; 128 (3): 510-522
View details for DOI 10.1115/1.2192835
View details for Web of Science ID 000240924300005
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Handwheel force feedback for lanekeeping assistance: Combined dynamics and stability
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2006; 128 (3): 532-542
View details for DOI 10.1115/1.2229256
View details for Web of Science ID 000240924300007
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Modeling cycle-to-cycle dynamics and mode transition in HCCI engines with variable valve actuation
CONTROL ENGINEERING PRACTICE
2006; 14 (3): 213-222
View details for DOI 10.1016/j.conengprac.2005.04.009
View details for Web of Science ID 000234916200003
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A two-input two-output control model of HCCI engines
American Control Conference 2006
IEEE. 2006: 472–477
View details for Web of Science ID 000241666300078
- A 2-Input, 2-State Model of Residual-Affected HCCI Engines 2006
- A Physically Based Two-State Model for Controlling Exhaust Recompression HCCI in Gasoline Engines 2006
- Lyapunov based performance guarantees for the potential field lanekeeping assistance system ASME Journal of Dynamic Systems, Measurement and Control 2006; 3 (128): 532-542
- An Energy Based Performance Bound for Lanekeeping Assistance with Force Feedback 2006
- A Dynamic Model of Recompression HCCI Combustion Including Cylinder Wall Temperature 2006
- Cycle-to-cycle dynamics and mode transition in HCCI engines with variable valve actuation Control Engineering Practice 2006; 3 (14): 213-222
- High-Frequency Vehicle Characteristics: Modeling and Experimental Validation of Yaw, Sideslip, and Roll Modes 2006
- A Method to Estimate the Friction Coefficient and Tire Slip Angle Using Steering Torque 2006
- GPS-Augmented vehicle dynamics control SAE Transactions, Journal of Passenger Cars: Mechanical Systems 2006: 1174-1182
- Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness IEEE Transactions on Intelligent Transportation Systems 2006; 4 (7): 483-493
- GPS Augmented Vehicle Dynamics Control 2006
- Real-time Tire Parameter Estimation in a Steer-by-wire Vehicle 2006
- Eliminating the Need for Sensor Redundancy in Diagnostic Systems for Steer-by-Wire Vehicles 2006
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Modification of vehicle handling characteristics via steer-by-wire
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2005; 13 (6): 965-976
View details for DOI 10.1109/TCST.2005.854320
View details for Web of Science ID 000232943100011
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Consistent nonlinear estimation of longitudinal tire stiffness and effective radius
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2005; 13 (6): 1010-1020
View details for DOI 10.1109/TCST.2005.857408
View details for Web of Science ID 000232943100015
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Dynamic modeling of residual-affected homogeneous charge compression ignition engines with variable valve actuation
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2005; 127 (3): 374-381
View details for DOI 10.1115/1.1979511
View details for Web of Science ID 000232071400008
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Differential geometric structures in vehicle lane keeping and roll mitigation
American Control Conference 2005 (ACC)
IEEE. 2005: 441–446
View details for Web of Science ID 000231947700079
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Residual autocorrelation in probabilistic model-based diagnostics
ASME International Mechanical Engineering Congress and Exposition
AMER SOC MECHANICAL ENGINEERS. 2005: 1255–1264
View details for Web of Science ID 000245508100148
- Steer-by-Wire Suspension and Steering Design for Controllability and Observability 2005
- Residual Autocorrelation in Probabilistic Model-Based Diagnostics 2005
- A physically based approach to control of HCCI engines with variable valve actuation International Journal of Engine Research 2005; 4 (6): 361-375
- Decoupled Control of Combustion Timing and Peak Pressure on an HCCI Engine 2005
- Automotive Diagnostic Decisions Using Probabilistic Information 2005
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Stabilization of a steer-by-wire vehicle at the limits of handling using feedback linearization
ASME International Mechanical Engineering Congress and Exposition
AMER SOC MECHANICAL ENGINEERS. 2005: 483–492
View details for Web of Science ID 000245508100058
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Decoupled control of combustion timing and work output in residual-affected HCCI engines
American Control Conference 2005 (ACC)
IEEE. 2005: 3871–3876
View details for Web of Science ID 000231947705027
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Guaranteeing lanekeeping performance with tire saturation using computed polynomial lyapunov functions
ASME International Mechanical Engineering Congress and Exposition
AMER SOC MECHANICAL ENGINEERS. 2005: 415–424
View details for Web of Science ID 000245508100050
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Automotive diagnostic decisions using probabilistic infomation
ASME International Mechanical Engineering Congress and Exposition
AMER SOC MECHANICAL ENGINEERS. 2005: 157–166
View details for Web of Science ID 000243097500022
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Validating GPS based measurements for vehicle control
ASME International Mechanical Engineering Congress and Exposition
AMER SOC MECHANICAL ENGINEERS. 2005: 583–592
View details for Web of Science ID 000245508100069
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Integrating inertial sensors with global positioning system (GPS) for vehicle dynamics control
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2004; 126 (2): 243-254
View details for DOI 10.1115/1.1766026
View details for Web of Science ID 000223382800002
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Experimental validation of the potential field lanekeeping system
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY
2004; 5 (2): 95-108
View details for Web of Science ID 000221856600004
- Using MEMS Accelerometers to Improve Automobile Handwheel State Estimation for Force Feedback 2004
- Multi-cycle modeling of HCCI Engines 2004
- Tackling theTransition: A Multi-Mode Combustion Model of SI and HCCI for Mode Transition Control 2004
- Steer-by-Wire for Vehicle State Estimation and Control 2004
- Vehicle sideslip and road bank angle estimation using GPS Review of Automotive Engineering JSAE 2004; 3 (25): 347-359
- Vehicle State Estimation in Diagnostic Systems for Steer-by-Wire Vehicles 2004
- Handwheel Force Feedback for Lanekeeping Assistance: Combined Dynamics and Stability 2004
- Contraction and Sum of Squares Analysis of HCCI Engines 2004
- Integrating inertial sensors with GPS for vehicle dynamics control ASME Journal of Dynamic Systems, Measurement and Control 2004; 2 (126): 243-254
- Error sources when land vehicle dead reckoning with differential wheelspeeds Navigation 2004; 1 (51): 13-29
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Vehicle state estimation using steering torque
American Control Conference
IEEE. 2004: 2116–2121
View details for Web of Science ID 000224688300360
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Input shaper design in convex optimization framework with frequency domain constraints
American Control Conference
IEEE. 2004: 2687–2692
View details for Web of Science ID 000224688300457
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Estimation of vehicle roll and road bank angle
American Control Conference
IEEE. 2004: 2110–2115
View details for Web of Science ID 000224688300359
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Physics-based closed-loop control of phasing, peak pressure and work output in HCCI engines utilizing variable valve actuation
American Control Conference
IEEE. 2004: 150–155
View details for Web of Science ID 000224688300025
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A gentle nudge towards safety: Experimental validation of the potential field driver assistance system
Annual American Control Conference (ACC 2003)
IEEE. 2003: 3744–3749
View details for Web of Science ID 000186706200637
- Optimal Rollover Prevention with Steer by Wire and Differential Braking 2003
- Cam System Modeling Cam Design Handbook edited by Rothbart, Harold, A. Mc-Graw-Hill. 2003: 1
- Safety Guarantees For Lanekeeping Assistance Systems With Time-Varying Disturbances: A Lyapunov Approach 2003
- Cycle-to-cycle control of HCCI Engines 2003
- Command Modification Using Input Shaping for Automated Systems with Heavy Trucks 2003
- Residual-effected homogeneous charge compression ignition at low compression ratio using exhaust reinduction International Journal of Engine Research 2003; 3 (4): 163-177
- A Probabilistic Vehicle Diagnostic System Using Multiple Models 2003
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Nonlinear estimation of longitudinal tire slip under several driving conditions
Annual American Control Conference (ACC 2003)
IEEE. 2003: 4975–4980
View details for Web of Science ID 000186706200848
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Command modification using input shaping for automated highway systems with heavy trucks
Annual American Control Conference (ACC 2003)
IEEE. 2003: 54–59
View details for Web of Science ID 000186706200009
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Modeling for control of HCCI engines
Annual American Control Conference (ACC 2003)
IEEE. 2003: 749–754
View details for Web of Science ID 000186706200129
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Modification of vehicle handling characteristics via steer-by-wire
Annual American Control Conference (ACC 2003)
IEEE. 2003: 2578–2583
View details for Web of Science ID 000186706200437
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A new yaw dynamic model for improved high speed control of a farm tractor
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2002; 124 (4): 659-667
View details for DOI 10.1115/1.1515329
View details for Web of Science ID 000180232400021
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"Loop-at-a-time" design of Dynamic Surface Controllers for nonlinear systems
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2002; 124 (1): 104-110
View details for DOI 10.1115/1.1433804
View details for Web of Science ID 000175335800013
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An error energy shaping interpretation of tracking controllers for mechanical systems
20th Annual American Control Conference (ACC)
IEEE. 2002: 3968–3973
View details for Web of Science ID 000178974700691
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The use of GPS based velocity measurements for measurement of sideslip and wheel slip
VEHICLE SYSTEM DYNAMICS
2002; 38 (2): 127-147
View details for Web of Science ID 000176574400003
- Loop-at-a-time’ design of dynamic surface controllers for nonlinear systems ASME Journal of Dynamic Systems, Measurement and Control 2002; 1 (124): 104-110
- Performance Guarantees for Hazard Based Lateral Vehicle Control 2002
- Yaw dynamic modeling for improved high speed control of a farm tractor ASME Journal of Dynamic Systems, Measurement and Control 2002; 4 (124): 659-667
- The use of GPS based velocity measurements for measurement of sideslip and wheel slip Vehicle System Dynamics 2002; 2 (38): 127-147
- Identifying Tire Pressure Variation by Nonlinear Estimation of Longitudinal Stiffness and Effective Radius 2002
- Practical Position and Yaw Rate Estimation with GPS and Differential Wheelspeeds 2002
- A Comparison of Several Sliding Surfaces for Stability Control 2002
- Vehicle Sideslip and Roll Parameter Estimation Using GPS 2002
- A Study of Lateral Vehicle Control Under a ‘Virtual’ Force Framework 2002
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A probabilistic approach to residual processing for vehicle fault detection
20th Annual American Control Conference (ACC)
IEEE. 2002: 2552–2557
View details for Web of Science ID 000178974700445
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Combining lanekeeping and vehicle following with hazard maps
VEHICLE SYSTEM DYNAMICS
2001; 36 (4-5): 391-411
View details for Web of Science ID 000172806400006
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A unified approach to driver assistance systems based on artificial potential fields
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2001; 123 (3): 431-438
View details for Web of Science ID 000171007500017
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Road grade and vehicle parameter estimation for longitudinal control using GPS
IEEE Intelligent Transportation Systems Conference (ITSC'01)
IEEE. 2001: 166–171
View details for Web of Science ID 000171438500031
- Multi-Modal Diagnostics for Vehicle Fault Detection 2001
- A Lyapunov Function Approach to Energy Based Model Reduction 2001
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Calculating longitudinal wheel slip and tire parameters using GPS velocity
American Control Conference (ACC)
IEEE. 2001: 1800–1805
View details for Web of Science ID 000173663300316
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Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness
American Control Conference (ACC)
IEEE. 2001: 25–30
View details for Web of Science ID 000173663300005
-
Dynamic surface control for a class of nonlinear systems
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
2000; 45 (10): 1893-1899
View details for Web of Science ID 000165173400013
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The role of handling characteristics in driver assistance systems with environmental interaction
2000 American Control Conference (ACC 2000)
IEEE. 2000: 2528–2532
View details for Web of Science ID 000166106200518
- Yaw dynamic modeling for improved high speed control of a farm tractor 2000
- Parameter Estimation and Command Modification for Longitudinal Control of Heavy Vehicles 2000
- Combining Lanekeeping and Vehicle Following with Hazard Maps 2000
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The use of GPS based velocity measurements for improved vehicle state estimation
2000 American Control Conference (ACC 2000)
IEEE. 2000: 2538–2542
View details for Web of Science ID 000166106200520
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Brake system modeling for simulation and control
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
1999; 121 (3): 496-503
View details for Web of Science ID 000082744600022
- Hysteresis Control of Nonlinear Single-Acting Actuators as Applied to Brake/Throttle Switching 1999
- A Unified Approach to Driver Assistance Systems Based On Artificial Potential Fields 1999
- Loop-at-a-time Design of Dynamic Surface Controllers for Nonlinear Systems 1999
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Vehicle speed and spacing control via coordinated throttle and brake actuation
CONTROL ENGINEERING PRACTICE
1997; 5 (11): 1607-1614
View details for Web of Science ID A1997YF64600013
- Dynamic Surface Control of Nonlinear Systems 1997
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Fault tolerant control of automatically controlled vehicles in response to brake system failures
1997 IEEE International Conference on Control Applications
I E E E. 1997: 705–710
View details for Web of Science ID A1997BJ81D00130
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Dynamic surface control of nonlinear system
1997 American Control Conference
IEEE. 1997: 3028–3034
View details for Web of Science ID A1997BJ29B00646
- Vehicle speed and spacing control via coordinated throttle and brake actuation Control Engineering Practice 1997; 11 (5): 1607-1614
- Fault Tolerant Control of Automatically Controlled Vehicles in Response to Brake System Failures 1997
- Vehicle Speed and Spacing Control via Coordinated Throttle and Brake Actuation 1996
- An Impact Model of Mechanical Backlash for Control System Analysis 1995
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Brake system requirements for platooning on an automated highway
1995 American Control Conference
AMER AUTOMATIC CONTROL COUNCIL. 1995: 165–169
View details for Web of Science ID A1995BD66H00035
- Brake System Requirements for Platooning on an Automated Highway 1995
- Brake System Modeling for Vehicle Control 1995
- Brake System Modeling for IVHS Longitudinal Control, Advances in Robust and Nonlinear Control 1993
- Incorporating Design Into an Undergraduate Laboratory Course 1993