Generalized Internal Model Robust Control for Active Front Steering Intervention

Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system（AFS）controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control.In this paper,a generalized internal model robust control（GIMC）that can overcome the contradiction between performance and stability is used in the AFS control.In GIMC,the Youla parameterization is used in an improved way.And GIMC controller includes two sections：a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters＇uncertainties and some external disturbances.Simulations of double lane change（DLC）maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞controller.Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle＇s parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller.Therefore,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller.

An optimization model for improving highway safety

This paper developed a traffic safety management system （TSMS） for improving safety on county paved roads in Wyoming. TSMS is a strategic and systematic process to improve safety of roadway network. When funding is limited, it is important to identify the best combination of safety improvement projects to provide the most benefits to society in terms of crash reduction. The factors included in the proposed optimization model are annual safety budget, roadway inventory, roadway functional classification, historical crashes, safety improvement countermeasures, cost and crash reduction factors （CRFs） associated with safety improvement countermeasures, and average daily traffics （ADTs）. This paper demonstrated how the proposed model can identify the best combination of safety improvement projects to maximize the safety benefits in terms of reducing overall crash frequency. Although the proposed methodology was implemented on the county paved road network of Wyoming, it could be easily modified for potential implementation on the Wyoming state highway system. Other states can also benefit by implementing a similar program within their jurisdictions.

Optimal Design of Two Road Networks Based on their Properties

In this paper, we discuss some fundamental properties of two idealized typical networks, namely, grid type and radial-circular type. The discussion is based on SPCP （Shortest Path Counting Problem）, which reflects the traffic density of a road segment. Furthermore, we compare their effectiveness based on the obtained results of the above two road networks, and suggest some proposals on the design of car lanes by considering the direction of a road segment in relation to these road networks.