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This paper presents a physically intuitive method for altering a vehicle's handling characteristics through active steering intervention. A full state feedback controller augments the driver's steering command via steer-by-wire to achieve desired handling behavior. Accurate estimates of vehicle states are available from a combination of Global Positioning(More)
With steer-by-wire, suspension and steering systems are no longer governed by purely mechanical criteria but must instead be designed according to mechatronic considerations. This paper demonstrates an approach to steer-by-wire suspension design in which geometric design variables are chosen to render the tire reaction torque about the steer axis highly(More)
This paper examines the benefits of incorporating vehicle dynamics modeling into the design of a diagnostic system for a steer-by-wire vehicle. The use of a model of vehicle dynamics improves the speed and accuracy of the diagnoses, by eliminating a significant source of disturbance input to the steer-by-wire system model. A method for reducing the effects(More)
Commercial heavy vehicle research at the California Partners for Advanced Transit and Highways (PATH) program has focused on the development of controllers for partially to fully automated driving environments. Safe performance of Advanced Vehicle Control Systems (AVCS) must be demonstrated for a wide range of operating conditions and truck configurations(More)
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