Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2014.14.9017

Vehicle Dynamics Control Applications to Automobiles: Survey and Some New Trends  

Yi, Kyong-Su (School of Mechanical and Aerospace Engineering, Seoul National University)
Lee, Jun-Yung (School of Mechanical and Aerospace Engineering, Seoul National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.3, 2014 , pp. 298-312 More about this Journal
Abstract
This paper describes control applications in automobiles. Many aspects of automotive applications of advanced control methods, which include suspension systems, stability control systems, engines, hybrid vehicle control systems, electric vehicle controls systems, advanced driver assistance systems and automated driving control systems, are reviewed. The control methods used in each area are briefly reviewed to help readers understand the applicability and effectiveness of these methods. In addition, some new trends in the research of automotive applications are described.
Keywords
vehicle dynamics control; intelligent vehicle; advanced vehicle control technology; advanced control applications;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 A. T. Van Zanten, R. Erhardt, K. Landesfeind, and G. Pfaff, "VDC Systems Development and Perspective," SAE 980235, 1998.
2 P. E. Rieth and R. Schwarz, "ESC II - ESC with active steering intervention," SAE 2004-01-0260, 2004.
3 H. E. Tseng, B. Ashrafi, D. Madau, T. A. Brown, and D. Recker, "The development of vehicle stability control at ford," IEEE/ASME Trans. Mechatronics, vol. 4, pp. 223-234, 1999.   DOI   ScienceOn
4 H. Leffler, "Consideration of lateral and longitudinal vehicle stability by function enhanced brake and stability control system," SAE 940832, 1994.
5 H. Leffler, "BMW's dynamic stability control DSC-A stability system with active longitudinal and lateral wheel slip control," SAE 95A006, 1995.
6 A. T. Van Zanten, R. Erhardt, G. Pfaff, F. Kost, U. Hartmann, and T. Ehret, "Control Aspects of the Bosch-VDC," Proc. of International Symposium on Advanced Vehicle Control, pp. 573-608, 1996.
7 G. Heess and A. T. Van Zanten, "System approach to vehicle dynamics control," Fisita 1988, No. 885107, pp. 2.109-2.121, 1988.
8 Y. Shibahata, K. Shimada, and T. Tomari, "Improvement of vehicle maneuverability by direct yaw moment control," Vehicle System Dynamics, vol. 22, pp. 465-481, 1993.   DOI
9 Y. Shibahata, M. Abe, K. Shimada, and Y. Furukawa, "Improvement on limit performance of vehicle motion by chassis control," Vehicle System Dynamics, vol. 23, pp. 449-468, 1994.   DOI
10 M. Shino and M. Nagai, "Yaw-moment control of electric vehicle for improving handling and stability," JSAE Review, vol. 22, pp. 473-480, 2001.   DOI   ScienceOn
11 T. Chung and K. Yi, "Design of vehicle stability control algorithm based on 3-DOF vehicle model," Transactions of KSME, vol. 13, no. 1, pp. 83-89, 2005.
12 J. J. Moskwa and J. Hedrick, "Nonlinear algorithms for automotive engine control," IEEE Control Systems Magazine, vol. 10, no. 3, pp. 88-93.
13 S.-H. You, J.-S. Jo, S. Yoo, J.-O. Hahn, and K. I. Lee, "Vehicle lateral stability management using gain-scheduled robust control," Journal of Mechanical Science and Technology, vol. 20, no. 11, pp. 1898-1913, 2006.   DOI
14 D. Cho and J. Karl Hedrick, "Automotive powertrain modeling for control," Journal of Dynamic Systems, Measurement, and Control 111.4, pp. 568-576, 1989.   DOI
15 J. D. Powell, "A review of IC engine models for control system design," Proceedings of 1987 IFAC World Congress, 1987.
16 E. Hendricks and T. Vesterholm, "The analysis of mean value SI engine models," SAE Paper No. 920682, 1992.
17 D. Hrovat and W. F. Powers, "Computer control systems for automotive power trains," IEEE Control Systems Magazine, vol. 8, no. 4, pp. 3-10, Aug. 1988.
18 J. F. Cassidy Jr., M. Athans, and W.-H. Lee, "On the design of electronic automotive engine controls using linear quadratic control theory," IEEE Transactions on Automatic Control, vol. AC-25, no. 5, pp. 901-910, Oct. 1981.
19 Tomizuka, Masayoshi, and J. Karl Hedrick, "Advanced control methods for automotive applications," Vehicle System Dynamics 24.6-7, pp. 449-468, 1995.   DOI
20 D. Cho and J. K. Hedrick, "Sliding mode fuel-injection controller," ASME Journal of Dynamic Systems, Measurement and Control, vol. 113, pp. 537-541, Sep. 1991.   DOI
21 S. B. Choi and J. K. Hedrick, "An observer based controller design method for automotive fuel-injection systems," Proc. of ACC, pp. 2567-2571, 1993.
22 J. K. Hedrick and M. Won, "An application of nonlinear robust control," IFAC Workshop on Non-Linear Control System Design, Tahoe. CA, Jun. 1995.
23 Liu, Derong, et al. "Adaptive critic learning techniques for engine torque and air-fuel ratio control," IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 38, no. 4, pp. 988-993, 2008.   DOI
24 S. Sheikholeslam, "Control of a class of interconnected dynamical systems," Ph.D. thesis, University of California, Berkley, 1991.
25 D. Swaroop, "Direct adaptative longitudinal control of vehicle platoons," IEEE Transactions on Vehicular Technology, vol. 50, no. 1, 2001.
26 W. L. Garrard, A. L. Caudill, A. L. Kornhauser, D. McKinnon, and S. J. Brown, "State-of-the-art longitudinal control and automated guideway transit vehicles," High Speed Ground Transport Journal, vol. 12, no. 2, 1978.
27 E. R. Foster, "A constant separation control law for use in automated guided transit," In Proc. of the 20th IEEE Vehicular Technology Conference, pp. 358-361, Airlington Heights, 1979.
28 D. Yanakiev and I. Kanellakopoulos, "Longitudinal control of automated CHVs with significant actuator delays," IEEE Transaction on Vehicular Technology, vol. 50, no. 5, pp. 1289-1297, Sep. 2001.   DOI
29 S. Huang and W. Ren. "Autonomous intelligent vehicle and its performance in automated traffic systems," Int. Jour. Control, vol. 72, pp. 1665-1668, Apr. 1999.   DOI
30 S. T. No, K.-T. Chong, and D.-H. Roh, "A lyapunov function approach to longitudinal control of vehicle in a platoon," IEEE Transactions on Vehicular Technology, vol. 50, no. 1, 2001.
31 K. Gardels, "Automatic car controls for electronic hiyhways," General Motors Research Lab., GMR-276, Gneral Motors, CS Berkely, 1960.
32 K. H. W. Cardew, The Automatic Steering of Vehicles-An Experiment System Fitted on a ds19 Citroen Car. Road Research Lab Report LR340N, Great Britain, CS Berkely, 1970.
33 P. Varaiya, J. K. Hedrick, M. Tomizuka, "Control issues in automated highway systems," IEEE Control Systems Magazine, vol. 14, no. 2, pp. 21-32, 1994.   DOI
34 S. V. Bana, "Coordinating automated vehicles via Communication, PATH Research Report UCB-ITS-PRR-2001-20," CS Berkely, 2001.
35 W. Zang, "An intelligent roadway reference system for a vehicle lateral guidance/control," Proc. of 1990 American Control Conference, pp. 281-286, 1990.
36 K. A. Redmill, S. Upadhya, A. Krishnmurthy, and U. Ozguner. "A lane tracking system for intelligent vehicle applications," In Proceedings of the 2001 IEEE Intelligent Transportation Systems Conference, pp. 273-279, Okland, USA, 1995.
37 R.Tatchikou, "Cooperative vehicle collision avoidance using inter-vehicle packet forwarding," Global Telecommunications Conference, GLOBECOM '05. IEEE (vol. 5), 2005.
38 D. Godbole and J. "Lygeros, Longitudinal control on the lead car of a platoon," PATH, Technical Memorandum, 93-7, CS Berkely, 1993.
39 B. Broggi, M. Bertozzi, A. Fasciolli, C. Guarino, L. Bianco, and A. Piazzi, "The ARGO autonomous vehicle's vision and control systems," Int. Journ. of Intelligent Control and Systems, vol. 3, no. 4, pp. 409-441, 1999.
40 M. Bertozzi and A. Broggi, "GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection," IEEE Transactions on Image Processing, vol. 17, no. 1, pp. 62-81, 1998.   DOI
41 O. Tremblay, L.-A. Dessaint, and A.-I. Dekkiche, "A generic battery model for the dynamic simulation of hybrid electric vehicles," IEEE Transactions on Vehicular Technology, pp. 284-289, 2007.
42 Francis Roy1,2, Angela M.Catania2, Florence Ossart2, Claude Marchand2, "Hybrid powertrain design using optimal control strategies," EVS2013.
43 M. Ehsani, Y. Gao, S. E. Gay, and A. Emadi, Modern Electric, Hybrid Electric, and Fuel Cell Vehicles: Fundamentals, Theory, and Design. Boca Raton, FL: CRC, 2004.
44 D. Diop, Y. Ait-Amirat, J. M. Kauffmann, and K. El Kadri, "Power Management of a series Hybrid Electric Vehicle," IEEE Transactions on Vehicular Technology, pp. 74-80, 2002.
45 P. Pisu, K. Koprubasi, and G. Rizzoni, "Energy management and drivability control problems for hybrid electric vehicles," in Proc. 44th IEEE Conf. Decision Control, pp. 1824-1830, 2005.
46 Fazal U. Syed et. al., "Fuzzy gain-scheduling proportional-integral control for improving engine power and speed behavior in a hybrid electric vehicle," IEEE Transactions on Vehicular Technology, vol. 58, no. 1, pp. 69-84, 2009.   DOI
47 A. Rajagopalan, G. Washington, G. Rizzoni, and Y. Guezennec, "Development of fuzzy logic control and advanced emissions modelling for parallel hybrid vehicles," NREL Tech. Rep., NREL/SR-540-32919, 2003.
48 P. Michel, A. Charlet, G. Colin, Y. Chamaillard, C_edric Nouillant, and G_erard Bloch, "Energy management of HEV to optimize fuel consumption and pollutant emissions," International Symposium on Advanced Vehicle Control, 2012.
49 P. Pisu and G. Rizzoni, "A comparative study of supervisory control strategies for hybrid electric vehicles," IEEE Transactions on Control Systems Technology, 2007.
50 Y. Hori, "Future vehicle driven by electricity and control - research on four-wheel-motored UOT electric march II," IEEE Transaction on Industrial Electronics, vol. 51, no. 5 pp. 954-962, 2004.   DOI   ScienceOn
51 J. Han and Y. Park, "Adaptive-ECMS method of fuel cell hybrid electric vehicle based on minimum altitude information," International Symposium on Advanced Vehicle Control, 2012.
52 S. Kermani, S. Delprat, T. M. Guerra, R. Trigui, and B. Jeanneret "Predictive energy management for hybrid vehicle," Control Engineering Practice, vol. 20, no. 4, pp. 408-420, 2012.   DOI
53 P. He and Y. Hori, "Optimum traction force distribution for stability improvement of 4WD EV in critical driving condition," IEEE Int. Workshop Adv. Motion Control, pp. 596-601, 2006.
54 K. Sawase, Y. Ushiroda, and T. Miura, "Left-right torque vectoring technology as the core of super all wheel control," Technical Review, Mitsubishi motors, no. 18, 2006.
55 N. Mutoh and H. Yahagi, "Control methods suitable for electric vehicles with independently driven front and rear wheel structures," Vehicle Power And Propulsion Conference-(VPPC 2005), Chicago, Illinois, USA, Sep. 2005.
56 J. Kang, W. Kim, J. Lee, and K. Yi, "Skid steering based control of a robotic vehicle with six-wheel drives," Proc. IMechE, part D: Journal of Automotive Engineering, vol. 224, pp. 1369-1391, 2010.   DOI
57 J. S. Brinker and A. Wise, "Flight testing of reconfigurable control law on the x-36 tailless aircraft, Journal of Guidance," Control and Dynamics, vol. 24, no. 5, Sep. 2001.
58 J. Kang, K. Yi, and H. Heo, "Control allocation based optimal torque vectoring for 4WD electric vehicle," SAE Technical Paper 2012-01-0246, 2012.
59 P. Tondel and T. A. Johanson, "Control allocation for yaw stabilization in automotive vehicle using multi parametric nonlinear programming," Proc. of the 2005 American Control Conference, 2005.
60 B. Schofield, T. Hagglund, and A. Rantzer, "Vehicle dynamics control and control allocation for rollover prevention," Proc. of the 2006 IEEE International Conference on Control Applications, Munich, German, pp. 149-154, Oct. 2006.
61 J. Zhang, Y. Zhao, X. Guan, and T. Lu, "Dynamic stability control strategy development for an in-wheel motorized electric vehicle," In Proceedings of the FISITA 2012 World Automotive Congress, pp. 657-668, 2013.
62 Q. Wang, L. Zhai, J. Wang, and H. Feng, "Study on acceleration slip regulation torque distribution control strategy for four in-wheel-motors electric vehicle steering," In 2013 25th Chiniese Control and Decision Conference (CCDC), Guiyang, China, pp. 3832-3837, 2013.
63 M. Nobuo, H. Iwano, T. Kamada, and M. Nagai, "Vehicle dynamics control of in-wheel electric motor drive vehicles based on averaging of tire force usage," Journal of Mechanical Systems for Transportation and Logistics, vol. 5, no. 1, pp. 14-29, 2012.   DOI
64 A. Athari, S. Fallah, B. Li, A. Khajepour, S. Chen, and B. Litkouhi, "Optimal torque control for an electric-drive vehicle with in-wheel motors: implementation and experiments," SAE International Journal of Commercial Vehicles, vol. 6, no. 1, pp. 82-92, 2013.   DOI
65 J. Wang, Q. Wang, L. Jin, and C. Song, "Independent wheel torque control of 4WD electric vehicle for differential drive assisted steering," Mechatronics, vol. 21, no. 1, pp. 63-76, 2011.   DOI   ScienceOn
66 P. Paula, W. Jonathan, C. Alex, B. Guillermo, M. Christophe, and B. Sandro, "Control systems for high performance electric cars," The 27th International Electric Vehicle Symposium (EVS27), 2013.
67 G. Kaiser, Q. Liu, C. Hoffmann, M. Korte, and H. Werner, "Torque vectoring for an electric vehicle using an LPV drive controller and a torque and slip limiter," In Decision and Control (CDC), 2012 IEEE 51st Annual Conference on, pp. 5016-5021, 2012.
68 L. Pinto, S. Aldworth, M. Watkinson, P. Jeary, and M. Franco-Jorge, "Advanced yaw motion control of a hybrid vehicle using twin rear electric motors," in Advanced Vehicle Control, AVEC, pp. 640-645, 2010.
69 C. Fu, R. Hoseinnezhad, S. Watkins, and R. Jazar, "Direct torque control for electronic differential in an electric racing car," Sustainable Automotive Technologies, pp. 177-183, 2012.
70 P. Venhovens et. al., Stop and go cruise control, Proceedings of Seoul 2000 FISITA World Automotive Congress, Seoul, Korea, Jun. 2000.
71 P. Fancher et. al., "Relationships between manual driving and driving with adaptive cruise control," Proceedings of AVEC2004, 7th International Symposium on Advanced Vehicle Control, Arhnem, The Netherlands, Aug. 2004.
72 H. Peng, "Evaluation of driver assistance systems-a human centered approach," Proc. of AVEC2002, 6th Inter-national Symposium on Advanced Vehicle Control, Japan, 2002.
73 S. E. Shladover, "Longitudinal control of automotive vehicles in close-vehicle formation platoons," ASME J. Dyn. Syst., Meas., Control, vol. 100, no. 4, pp. 302-310.
74 S. Germann and R. Isermann, "Nonlinear distance and cruise control for passenger cars," Proc. of the 1995 American Control Conference, pp. 3081-3085, Seattle,Washington, Jun. 1995.
75 A. Doi, T. Butsuen, T. Niibe, T. Takeshi, Y. Yamamoto, and H. Seni, "Development of a rear-end collision avoidance system with automatic brake control," JSAE Review, vol. 15, pp. 335-340, 1994.   DOI
76 M. Bando et. al., "Dynamic model of traffic congestion and numerical simulation," Phy. Rev. E51, pp. 1035-1042, 1995, Automotive Engineering International, Tech Brief, 2007.
77 P. Barber and N. Clarke, "Advanced collision warning systems," IEE Colloquium, 234, pp. 2/1-2/9, 1998.
78 Report of Two Years Activities in WP29_ITS Informal Group, 2007. UN/ECE/WP29.
79 H. Araki, K. Yamada, Y. Hirosima, and T. Ito, Development of rear-end collision avoidance system," JSAE Review, 18, pp. 301-322, 1997.   DOI
80 P. Seiler, B. Song, and K. Hedrick, "Development of a collision avoidance system," ITS Advanced Controls and Vehicle Navigation Systems SAE Special Publications, 1332 980853, pp. 97-103, 1998.
81 X. An, M. Wu, and H. He, "A novel approach to provide lane departure warning using only one forward-looking camera," Collaborative Technologies and Systems, 2006.
82 S. Chaib, M. Netto, and S. Mammar, "$H_{\infty}$, Adaptive, PID and fuzzy control: a comparison of controllers for vehicle lane keeping," Proc. of IEEE Intelligent Vehicle Symposium, pp. 139-144, 2004.
83 M. Netto, S. Chaib, and S. Mammar, "Lateral adaptive control for vehicle lane keeping," Proc. of American Control Conference, vol. 3, pp. 2693-2698, 2004.
84 N. Minoiu, M. Netto, S. Mammar, and B. Lusetti, "Driver steering assistance for lane departure avoidance," Control Engineering Practice, vol. 17, pp. 642-651, 2009.   DOI
85 T. Pilutti, G. Ulsoy, and D. Hrovat, "Vehicle steering intervention through differential braking," Proceedings of American Control Conference, Seattle Washington, USA, vol. 3, pp. 1667-1671, Jun. 1995.
86 http://www.euroncap.com/rewards/vw_lane_assist.aspx
87 J. Lee, J. Choi, K. Yi, M. Shin, and B. Ko, "Lane keeping assistance control algorithm using differential braking to prevent unintended lane departures," Control Engineering Practice, vol. 23, pp. 1-13, 2014.   DOI
88 Y. Hayakawa, K. Sato, and M. Kobayashi, "Development of blind spot assistance system based on lane marker detection and blind spot vehicle detection," Fast-zero 2011, Tokyo, Japan, 2011.
89 D. LeBlanc, P. Venhovens, C. Lin, T. Pilluti, R. Ervin, A. Ulsoy, C. MacAdam, and G. Johnson, "A warning and intervention system to prevent road-departure accidents," Vehicle System Dynamics, vol. 25, no. 1, pp. 383-396, 1996.   DOI
90 http://www.euroncap.com/rewards/infiniti_ldp.aspx
91 http://www.m-sedan.com/active_lane_keeping_assist-4511.html
92 S. Habenicht, H. Winner, S. Bone, F. Sasse, and P. Korzeniet, "A maneuver based lane change assistance system," IEEE Intelligent Vehicles Symposium, Germany, pp. 375-380, 2011.
93 http://www.audiusa.com/us/brand/en/tools/advice/glossary/audi_side_assist.browser.html
94 http://www4.mercedes-benz.com/manual-cars/ba/cars/221/en/overview/fahrsysteme4.html
95 http://www.digitaltrends.com/cars/cadillac-super-cruise/
96 A. Eidehall, J. Pohl, and F. Gustafsson, "A new approach to lane guidance systems," Intelligent Transportation Systems Conference, Austria, pp. 108-112, 2005.
97 J. Lee, K. Kim, D. Kim, and K. Yi, "Development of an integrated control algorithm of driving support system for enhancement of lateral safety," 23rd IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, Qingdao, China, Aug. 2013.
98 http://www.extremetech.com/extreme/132147-ford-self-driving-cars-2017
99 R. E. Fenton and I. Slim, "On the optimal design of an automotive lateral controller," IEEE Transactions on Vehicular Technology, vol. 37, no. 2, pp. 108-113, May 1988   DOI
100 J. K. Hedrick, M. Tomizuka, and P. Varaiya, "Control issues in automated highway systems," IEEE Contr. Syst. Mag., pp. 23-32, December, 1994
101 W. S. Chee and M. Tomizuka, "Lane change maneuver for AHS applications," Proc. of the International Symposium on Advanced Vehicle Control, Tsukaba, Japan, pp. 420-425, Oct. 1994.
102 J. Ackermann, "Robust control for automatic steering," Proc. of the American Control Conference, pp. 795-800, 1990.
103 H. Peng and M. Tomizuka, "Preview control for vehicle lateral guidance in highway automation," ASME Journal of Dynamic Systems, Measurement and Control, vol. 115, no. 4, pp. 678-686, 1993.
104 R. T. O'Brien, P. A. Iglesias, and T. J. Urban, "Vehicle lateral control for automated highway systems," IEEE Transactions on Control Systems Technology, vol. 4, no. 3, pp. 266-273, 1996.   DOI
105 T. Sattel and T. Brandt, "From robotics to automotive: Lane keeping and collision avoidance based on elastic bands," Vehicle System Dynamics, vol. 46, no. 7, pp. 597-619, Jul. 2008.   DOI
106 S. Kato, K. Tomita, and S. Tsugawa, "Lane change maneuvers for vision-based vehicle," Proc. of IEEE ITSC Conf., Boston, MA, pp. 129-134, 1997.
107 D. E. Smith and J. Starkey, "Effects of model complexity on the performance of automated vehicle steering controllers: controller development and evaluation," Vehicle System Dynamics, vol. 23, pp. 627-645, 2007.
108 Z. Shiller and S. Sundar, "Emergency maneuvers for AHS vehicles," SAE 1995 Trans. J. of Passenger Cars, vol. 104, pp. 2633-2643, 1995.
109 C. I. Connolly and R. A. Grupen, "The applications of harmonic functions to robotics," J. Robotic Syst., vol. 10, no. 7, pp. 931-946, 1993   DOI
110 T. Brakndt, T. Sattel, and J. Wallaschek, "Elastic bands: Connecting path planning and control," IEEE International Conference on Robotics and Automation, Atlanta, USA, vol. 2, pp. 802-807, 1993.
111 C. Garcia, D. Prett, and M. Morari, "Model predictive control: Theory and practice-a survey," Automatica, vol. 25, pp. 335-348, 1989.   DOI   ScienceOn
112 P. Falcone, F. Borrelli, J. Asgari, H. E. Tseng, and D. Hrovat, "A model predictive control approach for combined braking and steering in autonomous vehicles," Presented at the 15th Med. Conf. Control & Automation, Athens, Greece, pp. 1-6, Jun. 2007.
113 P. Falcone, M. Tufo, F. Borrelli, J. Asgari, and H. E. Tseng, "A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems," IEEE Conference on Decision and Control, LA, USA, pp. 2980-2985, Dec. 2007.
114 K. Singal and R. Rajamani, "Zero-energy active suspension system for automobiles with adaptive sky-hook damping," Journal of Vibration and Acoustics, 2013.
115 D. I. F. Ferguson and D. A. Dolgov, "Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles," Pat. no. 20130261872A1, United States, 2013.
116 D. Hrovat, "Survey on advanced suspension developments and related optimal control applications," Automatica, vol. 33, no. 10, pp. 1781-1817, 1997.   DOI   ScienceOn
117 Bose, Bose Suspension System, 2004; available at http://www.bose.com/pdf/technologies/bose_suspension_system.pdf (retrieved July 2009).
118 E. M. Elbeheiry, et al., "Advanced ground vehicle suspension systems," Vehicle System Dynamics, vol. 24, pp. 231-258, 1995.   DOI   ScienceOn
119 D. Karnopp, "Vibration control using semi-active force generators," ASME J. Eng. Ind., vol. 96, no. 2, pp. 619-626, 1974.   DOI
120 J. W. Park and K. Yi, "Development of motorized active suspension damper control algorithm," Master thesis, Seoul National University, 2011.
121 Y. Kawamoto and T. Kondo, "Modeling of electromagnetic damper for automobile suspension," Journal of System Design and Dynamics, vol. 1, no. 3, pp. 524-535, 2007.   DOI
122 Hassanzadeh, Iraj, et. al. "A new optimal nonlinear approach to half car active suspension control," IACSIT International Journal of Engineering and Technology 2.1, pp. 78-84, 2010.   DOI
123 Rajamani, Rajesh, and J. Karl Hedrick, "Adaptive observers for active automotive suspensions: theory and experiment," Control Systems Technology, IEEE Transactions on 3.1, pp. 86-93, 1995.   DOI   ScienceOn
124 B. Chen and H. Peng, "Rollover warning of articulated vehicles based on a time-to-rollover metric," in Proc. ASME, Dyn. Syst. Control Division DSC, vol. 67, pp. 247-254, IMECE, 1999.
125 K. Yoshioka, S. Buma, R. Kanda, and T. Yahagi, "Study of preview control for electric active suspension," Trans Jpn Soc Mech Eng C 76 (770), pp. 20-27, 2010.
126 Sugai, Haruhiko, et. al. "Preview ride comfort control for electric active suspension," Proc. of the FISITA 2012 World Automotive Congress. Springer Berlin Heidelberg, 2013.
127 National Highway Traffic Safety Administration, "Motor vehicle traffic crash injury and fatality estimates, 2002 early assessment," NCSA Advanced Research and Analysis, 2003.
128 J. Yoon, D. Kim, and K. Yi, "Design of a rollover index-based vehicle stability control scheme," Veh. Syst. Dyn., vol. 45, no. 5, pp. 459-475, 2007.   DOI
129 A. Hac, T. Brown, and J. Martens, "Detection of vehicle rollover," SAE Trans., paper 2004-01-1757, 2004.
130 H. Yang and L. Y. Liu, "A robust active suspension controller with rollover prevention," SAE Trans., paper 2003-01-0959, 2003.
131 Y. Seongjin, P. Yongjin, and P. Younsik, "Design of active suspension and ESP for rollover prevention," Trans. KSAE, vol. 2, pp. 807-812, 2005.
132 J. Yoon, K. Yi, W. Cho, and D. Kim, "Unified chassis control to prevent vehicle rollover," in Proc. KSME Spring Conf., Seoul, Korea, pp. 895-900. BEXCO, 2007.
133 J. Yoon, W. Cho, B. Koo, and K. Yi, "Unified chassis control for rollover prevention and lateral stability," IEEE Trans. on Veh. Tech., vol. 58, no. 2, pp. 596-609, Feb. 2009.   DOI
134 H. Schurr and A. Dittner, "A new anti-skip-brake system for disc and drum brkes, braking: recent development," SAE 840486, May 1984.
135 C. Larish, D. Piyabongkarn, V. Tsourapas, and R. Rajamani, "A new predictive lateral load transfer ratio for rollover prevention systems," IEEE Trans. on Veh. Tech., vol. 62, no. 7, pp. 2928-2936, Sep. 2013.   DOI
136 A. Harifi, A. Aghagolzadeh, G. Alizadeh, and M. Sadeghi, "Designing a sliding mode controller for slip control of antilock brake systems," Transportation Research Part C: Emerging Technologies, vol. 16, no. 6, 731-741, 2008.   DOI
137 P. Kachroo and M. Tomizuka, "Vehicle traction control and its applications," California PATH Research Paper, UCB-ITS-PRR-94-08, Mar. 1994.
138 H.-S. Tan and Y. Chin, "Vehicle Traction Control : Variablestructure control approach," Journal of Dynamic Systems, Measurement, and Control, vol. 113, pp. 223- 230, 1991.   DOI
139 H.-S. Tan and M. Tomizuka, "Discrete-time controller design for robust vehicle traction," IEEE Control Systems Magazine, pp. 107-113, Apr. 1990.
140 H.-S. Tan and M. Tomizuka, "An adaptive sliding mode vehicle traction controller design," Proc. of the 1990 American Control Conference, vol. 3, pp. 1856-1861.
141 A. T. Van Zanten, "Bosch ESP systems: 5 years of experience," SAE 2000-01-1633, 2000.
142 S. Taheri, "A feasibility study of the use of a new nonlinear control law for automobile anti-lock braking systems," Proceedings of the 1990 American Control Conference, vol. 2, 1990.
143 X. Zhang, Y. Lou, and X. Yang, "Study of control logic for automobile anti-lock braking system," International Conference on Intelligent Computation Technology and Automation ICICTA, pp. 493-497, 2008.
144 B.-C. Chen and H. Peng, "Differential-braking-based rollover prevention for sport utility vehicles with human-in-the-loop evaluations," Veh. Syst. Dyn., vol. 36, no. 4/5, pp. 359-389, Nov. 2001.   DOI   ScienceOn
145 J. Kendall, "Michelin re-invents the wheel," Automotive Engineering International, SAE, pp. 35-36, 2008.
146 S. Halle, F. Gilbert, J. Laumonier, and B. Chaib-draa, "Architectures for collaborative driving vehicles: From a review to a proposal," Dep. d'informatique et de genie Logiciel, Universite Laval, 2003.