The goal for the future, safer and more sustainable transportation leads to implementation of many advanced systems in vehicles. In this paper, a vehicle model with stability control system that uses the braking system is regarded as a base active vehicle. Two alternative vehicle models are considered where this system is combined and integrated with active front wheel steering (AFS) and active rear wheel steering (ARS) system, separately. For the purpose of this research, 3D virtual vehicle models based on a B-segment vehicle were created in ADAMS/Car. As a research tool, a co-simulation approach between ADAMS/Car and MATLAB/Simulink was used. Several sliding mode controllers (SMC) have been proposed and implemented in MATLAB/Simulink in order to analyse the potential improvements of the vehicle dynamics due to the integration and coordination of these systems. In the same MATLAB/Simulink environment, a reference 2DOF nonlinear bicycle model was used. The vehicle models were simulated in driving scenarios based on standardized ISO 7401 test procedures. The scenarios include situations where the passive vehicle loses its stability or fails to complete the manoeuvre while the vehicles with stability control or integrated control systems successfully complete it.

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The increasing application of mechatronic devices in everyday life increases the demands for higher reliability and safety in order to achieve more sustainable systems. Inspired by the enormous efforts put in decreasing the number of accidents on the roads which is attributed to implementation of improved mechatronic systems, a controller for improved vehicle dynamics was created and comparison between two advanced control methods was made. Improved vehicle dynamics and stability control system is mandatory for most vehicles, and in order to make contribution in this field, a cascade controller for selective wheel braking control is implemented in a virtual 3D vehicle model. By using sliding mode control (SMC) and Linear Quadratic Regulator (LQR) as adopted control methods, an improved vehicles dynamics is achieved and also a more reliable system is created due to the adaptiveness of the control strategies. Using co-simulation approach involving ADAMS/Car and Matlab/Simulink, results for standardized vehicle maneuvers are obtained and the benefits of the proposed controllers are analyzed.

Transportation and traffic affect all the aspects of everyday life. To better understand traffic dynamics traffic models are developed. On microscopic level, carfollowing models are developed and improved during long period of time. They are used in traffic simulation tools or are the basis for operation in some advanced vehicle systems. Carfollowing models describe traffic dynamics through movement of individual vehicle-driver units. This paper compares Gipps model and Intelligent Driver Model (IDM) as carfollowing models based on driving strategies. These models are derived based on assumptions such as keeping safe distance from the leading vehicle, driving at a desired speed and producing accelerations within a comfortable range. The models are implemented and simulated in MATLAB environment and the results are discussed in terms of the ability to reproduce real driving behaviour in car following scenarios.

Advances in vehicle technologies brought changes into architectures of integration of chassis control systems. Alongside other improvements, integration can provide better vehicle handling, stability and safety. Different chassis control systems can use different control methods. Considering while in motion vehicle has movements in longitudinal, lateral and vertical direction, different control systems target different motion. If there is no coordination among active control systems, interaction and performance conflict can arise. This paper presents coordination of three control systems: electronic stability control (ESC), active front steering control (AFSC) and active suspension normal force control (ASNF). ESC is actually direct yaw and anti-roll control using selective wheel braking. ASNF is considered only on front axle. All systems use fuzzy-logic as a control method. Vehicle is presented as 14-DOF nonlinear full vehicle model and for the control purposes 3-DOF reference model was introduced. Emphasis was given on vehicle parameters characterizing dynamic behavior in longitudinal and lateral direction. Benefits of coordinated action of the three systems can be seen from the results gained through simulation of cornering event and single lane change in Matlab/Simulink. Coordinated control adds to the action of ESC itself, resulting in improved stability and handling, and thus safety of the vehicle.