@article{ref1,
title="A curving ACC system with coordination control of longitudinal car-following and lateral stability",
journal="Vehicle system dynamics",
year="2012",
author="Zhang, Dezhao and Li, Keqiang and Wang, Jianqiang",
volume="50",
number="7",
pages="1085-1102",
abstract="The paper presents a curving adaptive cruise control (ACC) system that is coordinated with a direct yaw-moment control (DYC) system and gives consideration to both longitudinal car-following capability and lateral stability on curved roads. A model including vehicle longitudinal and lateral dynamics is built first, which is as discrete as the predictive model of the system controller. Then, a cost function is determined to reflect the contradictions between vehicle longitudinal and lateral dynamics. Meanwhile, some I/O constraints are formulated with a driver permissible longitudinal car-following range and the road adhesion condition. After that, desired longitudinal acceleration and desired yaw moment are obtained by a linear matrix inequality based robust constrained state feedback method. Finally, driver-in-the-loop tests on a driving simulator are conducted and the results show that the developed control system provides significant benefits in weakening the impact of DYC on ACC longitudinal car-following capability while also improving lateral stability.<p />",
language="en",
issn="0042-3114",
doi="10.1080/00423114.2012.656654",
url="http://dx.doi.org/10.1080/00423114.2012.656654"
}