1Preface
605.5 Benefits Of Longitudinal Automation
2Chapter - 1 Introduction to Commercial Vehicle Mechanical Technology
615.6 Cruise Control
31.1 Introduction
625.7 Upper-Level Controller For Cruise Control
41.2 Driver Assistance Systems
635.8 Lower Level Controller For Cruise Control
51.3 Active Stability Control Systems
645.9 Engine Torque Calculation for Desired Acceleration
61.4 Ride Quality
655.10 Engine Control
71.5 Technologies For Addressing Traffic Congestion
665.11 Chapter Summary
81.6 Automated highway systems
675.12 Exercise
91.7 “Traffic-Friendly” Adaptive Cruise Control
68Chapter - 6 Adaptive Cruise Control
101.8 Narrow Tilt-Controlled Commuter Vehicles
696.1 Introduction
111.9 Intelligent Transportation Systems (ITS)
706.2 Vehicle Following Specifications
121.10 Emissions And Fuel Economy
716.2.1 Individual Vehicle Stability
131.11 Hybrid Electric Vehicles
726.2.2 String Stability
141.12 Fuel Cell Vehicles
736.3 Control Architecture
151.13 Exercise
746.4 String Stability
16Chapter - 2 Lateralvehicle Dynamics
756.5 Autonomous Control With Constant Spacing
172.1 Introduction
766.6 Autonomous Control With The Constant Time-Gap Policy
182.2 Lateral Systems Under Commercial
776.7 Transitional Trajectories
192.2.1 Development
786.8 The Need For A Transitional Controller
202.2.2 Lane Departure Warning
796.9 Chapter Summary
212.2.3 Lane Keeping Systems
806.10 Exercise
222.2.4 Yaw Stability Control Systems
81Chapter - 7 Longitudinal Control For Vehicle Platoons
232.3 Kinematic Model Of Lateral Vehicle Motion
827.1 Automated Highway Systems
242.4 Assumptions
837.2 Vehicle Control On Automated Highway Systems
252.5 Bicycle Model Of Lateral Vehicle Dynamics : 2.5.1 Consideration of Road Bank Angle
847.3 Longitudinal Control Architecture
262.6 Dynamic Model In Terms Of Error With Respect To Road
857.4 Vehicle Following Specifications
272.7 Dynamic Model In Terms Of Yaw Rate And Slip Angle
867.4.1 Individual Vehicle Stability
282.8 From Body Fixed To Global Coordinates
877.4.2 String Stability
292.9 Chapter Summary
887.5 Background On Norms Of Signals And Systems
302.10 Exercise
897.5.1 Norms of Signals
31Chapter - 3 Steering Control For Automated Lane Keeping
907.5.2 System Norms
323.1 Introduction
917.6 Experimental Results
333.2 State Feedback
921.3 Chapter Summary
343.3 Steady-state Error From Dynamic Equations
931.4 Exercise
353.4 Understanding Steady-State Cornering
94Chapter - 8 Electronic Stability Control
363.4.1 Steering Angle For Steady-State Cornering
958.1 Introduction : 8.1.1 The Functioning of A Stability Control System
373.4.2 Can the Yaw-angle error be zero?
968.2 Systems Developed By Automotive Manufacturers
383.4.3 Is non-zero Yaw angle error a Concern?
978.3 Types Of Stability Control Systems
393.5 Consideration Of Varying Longitudinal Velocity
988.4 Differential Braking Systems
403.6 Output Feedback
998.5 Steer-By-Wire Systems
411.1 Unity Feedback Loop System
1008.5.1 Introduction
421.2 Chapter Summary
1018.5.2 Choice of Output for Decoupling
433.7 Exercise
1028.6 Independent All Wheel Drive Torque Distribution : 8.6.1 Traditional Four Wheel Drive Systems
44Chapter - 4 Longitudinal Vehicle Dynamics
1038.7 Torque Transfer Between Left And Right Wheels Using A Differential
454.1 Introduction
1048.8 Active Control of Torque Transfer To All Wheels
464.2 Longitudinal Vehicle Dynamics
1058.9 Chapter Summary
474.3 Aerodynamic drag force
1068.10 Exercise
484.4 Longitudinal Tire Force : 4.4.1 Slip Ratio
107Chapter - 9 Commercial Vehicle
494.5 Why Does Longitudinal Tire Force Depend On Slip?
1089.1 Commercial vehicles and buses
504.6 Rolling resistance
1099.2 Engine Torque Rise And Speed Operating Range
514.7 Calculation Of Normal Tire Forces : 4.7.1 Calculation of Effective tire Radius
1109.3 Hybrid Electric Buses And Trucks
524.8 Driveline Dynamics
1119.4 Designation of light commercial vehicle tires
534.9 Chapter Summary
1129.5 Corner vanes
544.10 Exercise
1139.6 Specify the Actuation Mechanism (Pneumatic System)
55Chapter - 5 Introduction To Longitudinal Control
1149.7 Conclusion and advantages
565.1 Introduction
1159.8 Exercise
575.2 Adaptive Cruise Control
116Appendix
585.3 Collision Avoidance
117Glossary
595.4 Automated Highway Systems
118Index
