Hamid Dahmani

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This paper presents a lane departure detection method. The road curvature is estimated and compared to the vehicle trajectory curvature. The proposed algorithm reduces false alarms and integrates the driver corrections by taking account of the steering dynamics. The used nonlinear model deduced from the vehicle lateral dynamics and a vision system is(More)
This paper describes a vehicle dynamics fuzzy control design to improve stability and minimize the rollover risk of the vehicle in critical situations. To obtain a robust controller, several aspects that directly affect the behavior of the vehicle have been considered. Nonlinearities of the lateral forces have been considered by using a Takagi-Sugeno (TS)(More)
This paper describes a methodology for estimating both vehicle dynamics and road geometry using a Fuzzy unknown input observer. Vehicle sideslip and roll parameters are estimated in presence of the road bank angle and the road curvature as unknown inputs. The unknown inputs are then estimated using the observer results. The used nonlinear model deduced from(More)
This paper describes a methodology for estimating both vehicle dynamics and road geometry using a Fuzzy unknown input observer. Vehicle sideslip and roll parameters are estimated in presence of the road bank angle and the road curvature as unknown inputs. The unknown inputs are then estimated using the observer results. The used nonlinear model deduced from(More)
This paper introduces an observer-based control of the vehicle lateral dynamics using a four-wheel active steering system. The Takagi-Sugeno (TS) representation has been used in order to take into account the non-linearities of the lateral forces. Based on the obtained fuzzy model, a TS observer has been designed with unmeasurable premise variables in order(More)
This brief describes an observer-based state feedback tracking controller for vehicle dynamics with a four-wheel active steering system as well as an active suspension system. The objective of the proposed controller is to improve the vehicle behavior by forcing the lateral dynamics and the load transfer ratio to achieve the desired vehicle behavior in(More)
This paper describes a state feed-back tracking controller with parameter uncertainties for vehicle dynamics with a four-wheel active steering system as well as an active suspension system. The objectives of the proposed controller are to improve the vehicle behavior by forcing the lateral dynamics and the load transfer ratio to track the desired vehicle(More)
This paper describes an observer-based control of the vehicle dynamics using a four-wheel active steering system as well as an active suspension system. The objectives of the proposed controller are to improve the vehicle behaviour by forcing the lateral dynamics and the load transfer ration (LTR) to track reference trajectories in critical situations. The(More)
In this paper, a fuzzy proportional integral (PI) state feedback controller has been developed in order to improve vehicle traction on slippery roads. A nonlinear model has been formulated from the vehicle longitudinal dynamics, the drivetrain model and the wheel motion. Takagi-Sugeno (TS) representation has been used in order to take into account the(More)
A methodology for estimating vehicle dynamics whith road geometry consideration is presented in this paper. Vehicle sideslip and roll parameters are estimated in the presence of the road bank angle and the road curvature as unknown inputs. The unknown inputs are then estimated using the observer results. This information about the road geometry and vehicle(More)