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r
o
ttle,
an
d
b
r
ak
in
g
s
y
s
tem
s
.
T
h
e
s
teer
in
g
co
n
tr
o
l
’
s
p
r
im
ar
y
g
o
al
is
to
cr
ea
te
a
co
n
tr
o
l
s
tr
ateg
y
th
at
ca
n
ac
cu
r
ately
esti
m
ate
th
e
p
ath
to
th
e
in
ten
d
ed
tar
g
et.
T
h
is
co
n
tr
o
l
s
y
s
tem
also
k
ee
p
s
th
e
v
eh
icl
e
’
s
d
ir
ec
tio
n
al
s
tab
ilit
y
wh
ile
f
o
llo
win
g
th
e
p
ath
[
1
1
]
-
[
1
3
]
.
T
h
e
in
clu
s
io
n
o
f
m
o
d
el
u
n
ce
r
tain
t
y
an
d
o
u
ts
id
e
d
is
tu
r
b
an
ce
s
m
ak
es
p
ath
f
o
llo
win
g
co
n
tr
o
l
f
o
r
au
to
n
o
m
o
u
s
v
eh
icles
m
o
r
e
ch
allen
g
in
g
.
Var
iatio
n
s
in
t
h
e
v
eh
icle/en
v
ir
o
n
m
e
n
t
p
ar
a
m
eter
s
an
d
th
e
v
eh
icle
s
tate
m
ay
ca
u
s
e
m
o
d
el
u
n
ce
r
tain
ties
.
T
h
e
s
im
u
latio
n
s
tag
e
is
wh
er
e
co
n
tr
o
l
m
eth
o
d
is
o
f
ten
im
p
lem
en
ted
,
with
th
e
co
n
tr
o
lled
p
la
n
t
b
ein
g
m
o
d
elled
to
p
r
o
d
u
ce
s
i
m
u
lated
r
esp
o
n
s
es.
T
h
e
m
ajo
r
ity
o
f
th
ese
p
ap
er
s
d
ea
l
with
n
o
n
-
lin
ea
r
o
r
lin
ea
r
co
n
tr
o
l
tech
n
i
q
u
es
with
lin
ea
r
ized
v
eh
icle
m
o
d
els.
W
h
en
u
s
in
g
v
eh
icle
lin
ea
r
m
o
d
els,
s
o
m
e
v
eh
icle
-
r
elate
d
ef
f
ec
ts
ar
e
d
is
r
eg
ar
d
ed
.
C
o
n
s
eq
u
en
tly
,
p
ath
tr
ac
k
i
n
g
co
n
tr
o
l
m
ay
n
o
t
alwa
y
s
g
iv
e
o
u
tco
m
es
th
at
ar
e
s
atis
f
ac
to
r
y
[
1
4
]
,
[
1
5
]
.
T
h
eo
r
etica
lly
,
a
n
au
to
n
o
m
o
u
s
v
eh
icle
o
u
g
h
t
to
b
e
ab
le
t
o
r
ec
o
v
er
f
r
o
m
s
ig
n
if
ica
n
t
d
i
s
tu
r
b
an
ce
s
with
o
u
t
ass
is
tan
ce
f
r
o
m
a
p
er
s
o
n
.
I
n
a
g
eo
m
etr
ic/k
in
e
m
atic
f
o
r
m
o
f
co
n
tr
o
ller
ca
lled
th
e
g
eo
m
etr
ic
co
n
tr
o
ller
is
u
s
ed
f
o
r
th
o
s
e
p
u
r
p
o
s
es.
T
h
e
co
n
f
ig
u
r
atio
n
a
n
d
d
ep
lo
y
m
en
t
o
f
g
eo
m
etr
ic/k
in
em
atic
co
n
tr
o
ller
s
is
s
tr
aig
h
tf
o
r
war
d
.
B
u
t
ac
co
r
d
i
n
g
to
ea
r
lier
s
tu
d
ies,
th
is
k
in
d
o
f
co
n
tr
o
ller
s
m
ay
r
eq
u
ir
e
a
d
eq
u
ate
tu
n
in
g
t
o
o
p
er
ate
ef
f
ec
tiv
el
y
,
an
d
a
tu
n
ed
co
n
tr
o
ller
m
ig
h
t
o
n
ly
o
p
er
ate
with
a
s
p
ec
if
ic
k
in
d
o
f
tr
ajec
to
r
y
an
d
s
p
ee
d
r
an
g
e
[
1
0
]
,
[
1
6
]
-
[
1
8
]
.
Ad
d
itio
n
ally
,
th
e
m
ajo
r
ity
o
f
g
e
o
m
etr
ic/k
in
em
atic
co
n
tr
o
ller
s
,
in
clu
d
in
g
th
e
Stan
ley
co
n
tr
o
ller
,
a
r
e
in
ca
p
ab
le
o
f
h
an
d
lin
g
s
h
ar
p
co
r
n
er
s
.
T
h
er
e
f
o
r
e,
a
s
u
g
g
esti
o
n
f
o
r
im
p
r
o
v
em
en
t
is
m
ad
e
t
o
in
co
r
p
o
r
ate
a
d
y
n
am
ic
v
eh
i
cle
th
at
will
m
o
d
if
y
th
e
c
o
n
tr
o
ller
’
s
s
ettin
g
s
i
n
ac
c
o
r
d
an
ce
with
r
o
a
d
cir
cu
m
s
tan
ce
s
[
1
9
]
,
[
2
0
]
.
Sev
er
al
r
ef
er
en
ce
s
co
n
tain
a
co
m
m
o
n
way
to
d
e
v
elo
p
t
h
e
co
n
tr
o
l
law.
R
esear
ch
er
s
[
2
1
]
,
[
2
2
]
d
etailed
th
e
ap
p
licatio
n
o
f
th
e
lin
ea
r
q
u
a
d
r
atic
r
e
g
u
lato
r
(
L
QR
)
co
n
tr
o
ller
in
r
o
u
te
t
r
a
ck
in
g
co
n
tr
o
l
with
d
y
n
am
ic
f
ee
d
b
ac
k
.
Ho
wev
e
r
,
th
e
co
n
t
r
o
ller
s
tr
u
g
g
led
b
ec
a
u
s
e
th
er
e
was
n
o
p
ath
f
ee
d
b
a
ck
.
A
f
ee
d
f
o
r
war
d
ter
m
o
f
s
teer
in
g
a
n
g
le
to
ze
r
o
s
tead
y
s
tate
er
r
o
r
was
ad
d
e
d
to
th
e
o
r
ig
in
al
tech
n
iq
u
e.
Si
n
ce
th
e
l
o
o
k
-
a
h
ea
d
d
is
tan
ce
is
s
till
ab
s
en
t
an
d
th
e
co
n
tr
o
ller
ca
n
o
n
ly
b
e
r
ea
ctiv
e
,
th
e
o
u
tco
m
e
was
s
till
wo
r
s
e.
T
h
e
id
ea
l
p
r
ev
iew
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
2
,
Ap
r
il
20
26
:
6
9
6
-
7
0
6
698
m
eth
o
d
s
u
g
g
ested
b
y
[
2
3
]
,
[
2
4
]
in
at
least
th
r
ee
ar
ticles
ca
n
b
e
u
s
ed
to
s
o
lv
e
t
h
is
is
s
u
e.
Ad
ap
tiv
e
c
o
n
tr
o
ller
s
ar
e
d
ev
el
o
p
ed
f
o
r
u
s
e
in
s
y
s
te
m
s
th
at
r
eq
u
ir
e
s
tr
o
n
g
r
o
b
u
s
tn
ess
ag
ain
s
t
s
p
ec
if
ic
d
is
tu
r
b
a
n
ce
an
d
u
n
ce
r
tain
ty
m
o
d
els.
T
h
e
d
ev
elo
p
m
en
t
an
d
ev
alu
atio
n
o
f
ad
a
p
tiv
e
tr
aje
cto
r
y
tr
ac
k
in
g
c
o
n
tr
o
l
h
a
v
e
b
ee
n
d
o
cu
m
e
n
ted
in
r
ef
er
en
ce
[
2
5
]
.
A
r
ef
e
r
en
ce
s
ig
n
al
with
lin
ea
r
v
el
o
city
an
d
an
g
le
is
u
s
ed
b
y
t
h
is
co
n
tr
o
ller
.
T
h
e
r
ef
er
e
n
ce
s
ig
n
al
is
co
m
p
lem
en
ted
with
an
ad
ap
tiv
e
p
ar
am
eter
u
p
d
ate
law
to
p
r
ev
en
t
d
r
if
t
p
ar
am
et
er
s
.
Alth
o
u
g
h
th
is
co
n
ce
p
t
is
b
ein
g
im
p
lem
en
te
d
o
n
a
m
o
b
ile
r
o
b
o
t
th
at
r
id
es
a
u
n
icy
cle,
it
ca
n
b
e
ad
j
u
s
ted
to
wo
r
k
o
n
a
v
e
h
icle
th
at
h
as
s
in
g
le
p
o
in
t
co
n
tr
o
l.
Ad
ap
tiv
e
r
u
le
was
ad
d
ed
to
th
e
b
ac
k
-
s
tep
p
in
g
k
in
em
atic/d
y
n
am
ic
th
eo
r
y
th
at
em
p
lo
y
ed
[
2
6
]
,
[
2
7
]
.
I
t a
im
s
to
ass
is
t a
m
o
b
ile
r
o
b
o
t w
ith
u
n
id
en
tifie
d
f
ea
tu
r
es
.
I
n
th
is
s
tu
d
y
,
a
d
y
n
a
m
ic
co
n
tr
o
ller
alo
n
g
with
a
to
r
q
u
e
c
o
n
t
r
o
ller
wer
e
p
r
o
p
o
s
ed
.
T
h
er
e
a
r
e
s
ev
er
al
n
o
tab
le
ad
a
p
tiv
e
c
o
n
tr
o
ller
s
av
ailab
le,
ea
ch
o
f
wh
ich
ca
n
ad
d
r
ess
a
d
is
tin
ct
co
m
p
o
n
e
n
t
o
f
th
e
o
p
er
atin
g
en
v
ir
o
n
m
en
t
f
o
r
a
v
eh
icle.
An
ad
ap
tiv
e
co
n
t
r
o
ller
in
v
esti
g
atio
n
o
n
s
lip
p
er
y
r
o
ad
co
n
d
itio
n
s
was
d
o
n
e
[
2
8
]
.
An
o
th
er
ad
ap
tiv
e
c
o
n
tr
o
ller
u
s
ed
in
th
e
v
eh
icle
f
o
r
u
n
id
e
n
tifie
d
s
k
id
d
in
g
is
also
co
v
er
ed
i
n
[
2
8
]
.
T
o
s
tab
ilize
y
aw
o
n
th
e
f
r
o
n
t
a
n
d
r
ea
r
wh
ee
ls
,
r
esear
ch
is
co
n
d
u
cted
.
An
ad
ap
tiv
e
law
th
at
ad
j
u
s
ts
co
r
n
er
in
g
s
tiff
n
ess
b
y
tr
ac
k
in
g
th
e
d
y
n
am
ic
wh
ee
l
s
id
esli
p
an
g
le
elim
in
ates
th
e
ef
f
ec
t
o
f
wh
ee
l
-
r
o
a
d
s
lid
in
g
o
n
s
l
ick
r
o
ad
s
.
Po
s
itio
n
tr
ac
k
in
g
co
n
tr
o
l sy
s
tem
f
o
r
an
au
to
n
o
m
o
u
s
v
eh
icle
is
th
e
m
ai
n
g
o
al
o
f
th
is
s
tu
d
y
.
2.
M
E
T
H
O
D
A
n
o
n
-
h
o
lo
n
o
m
ic
s
y
s
tem
ca
n
b
e
ca
teg
o
r
ized
as
an
a
u
to
n
o
m
o
u
s
v
eh
icle.
T
h
e
ter
m
“
h
o
lo
n
o
m
ic
s
y
s
tem
”
d
escr
ib
es
th
e
r
elatio
n
s
h
ip
b
etwe
en
th
e
to
tal
n
u
m
b
er
o
f
f
o
u
r
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
(
DOF)
,
f
o
r
t
h
e
d
y
n
am
ic
s
y
s
tem
an
d
th
e
co
n
tr
o
llab
le
DOF.
T
h
e
co
n
tr
o
llab
le
DOF
o
f
a
n
o
n
-
h
o
lo
n
o
m
ic
s
y
s
tem
was
less
th
an
th
e
to
tal
DOF.
Acc
o
r
d
in
g
t
o
[
6
]
,
[
2
9
]
,
a
ty
p
ical
v
e
h
icle
is
r
e
g
ar
d
ed
as
n
o
n
-
h
o
lo
n
o
m
ic
b
ec
au
s
e
it
h
as
a
to
tal
o
f
f
o
u
r
DOF,
in
clu
d
in
g
m
o
tio
n
i
n
th
e
two
C
ar
tesi
an
co
o
r
d
in
at
es
o
f
d
ir
ec
tio
n
an
d
h
ea
d
in
g
,
b
u
t
o
n
l
y
two
DOF
th
at
ca
n
b
e
c
o
n
tr
o
lled
:
th
e
l
o
n
g
itu
d
i
n
al
(
f
o
r
war
d
a
n
d
b
ac
k
war
d
)
a
n
d
later
al
d
ir
ec
tio
n
s
(
b
o
u
n
d
ed
s
teer
in
g
in
p
u
t)
.
T
h
e
m
ajo
r
ity
o
f
s
tu
d
ies
o
n
p
ath
tr
ac
k
in
g
co
n
t
r
o
ller
s
u
s
e
k
in
em
atic
v
eh
icle
m
o
d
ellin
g
a
s
s
h
o
wn
in
Fig
u
r
e
2
.
Du
e
o
f
its
s
im
p
lici
ty
an
d
cr
u
cial
r
ele
v
an
ce
to
e
x
p
lain
th
e
m
o
tio
n
o
f
th
e
v
eh
icle,
th
is
m
o
d
el
is
co
m
m
o
n
l
y
u
tili
ze
d
.
T
h
e
p
o
s
it
io
n
an
d
o
r
ien
tatio
n
o
f
th
e
v
e
h
icle
with
r
eg
ar
d
to
its
lo
ca
l
ax
is
an
d
th
e
g
lo
b
al
ax
es,
ar
e
d
escr
ib
ed
u
s
in
g
th
is
m
o
d
el.
Fo
r
t
h
is
,
a
s
tr
aig
h
tf
o
r
war
d
k
i
n
em
atic
m
o
d
el
is
f
r
eq
u
en
tly
e
m
p
lo
y
e
d
,
as
s
h
o
wn
in
Fig
u
r
e
3
.
L
o
ca
l
(
x
-
y
)
an
d
g
lo
b
al
(
X
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Y)
a
x
es
ar
e
u
s
ed
to
d
ef
in
e
t
h
e
v
eh
icle
,
r
ep
r
esen
ts
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e
v
eh
icle
’
s
lo
n
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itu
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in
al
v
elo
city
,
θ
is
i
ts
h
ea
d
in
g
in
r
elatio
n
to
th
e
lo
ca
l
co
o
r
d
in
ates,
an
d
is
its
o
r
ien
tatio
n
in
r
elatio
n
to
th
e
g
lo
b
al
c
o
o
r
d
i
n
a
tes [
6
]
.
[
]
=
[
−
]
[
]
=
=
(
2
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T
h
e
d
y
n
am
ic
v
e
h
icle
m
o
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el
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ac
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u
n
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ex
ter
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al
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d
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ter
n
al
f
o
r
ce
s
,
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er
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r
m
o
m
en
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m
with
in
th
e
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y
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tem
to
d
escr
ib
e
th
e
m
o
tio
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o
f
th
e
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e
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icle
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ter
m
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o
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n
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elo
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as
s
h
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wn
Fig
u
r
e
3
.
T
h
is
m
o
d
el
tak
es in
to
ac
co
u
n
t th
e
m
ass
o
f
t
h
e
v
eh
icle
b
o
d
y
as we
ll a
s
tire
f
o
r
ce
s
(
1
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an
d
(
2
)
.
Fig
u
r
e
2
.
Fu
ll v
e
h
icle
in
k
in
e
m
atic
m
o
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el
Fig
u
r
e
3
.
7
DOF
A
u
to
n
o
m
o
u
s
v
eh
icle
m
o
d
el
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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L
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elec
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m
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u
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P
erfo
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t o
f a
n
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tive
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r
ed
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o
l
w
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e
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r
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(
Zu
lka
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in
)
699
(
∑
+
[
−
−
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+
[
+
+
+
]
+
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−
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]
2
)
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̈
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2
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+
+
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3
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R
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Ho
wev
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Pace
jk
a
tire
m
o
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el
h
as
also
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ee
n
wid
ely
em
p
lo
y
ed
in
ad
d
itio
n
to
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ier
esti
m
atio
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o
f
tire
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n
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e.
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h
i
s
n
o
n
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lin
ea
r
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s
em
i
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em
p
ir
ical
tire
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o
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el
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n
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ep
li
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te
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f
o
r
ce
s
p
r
o
d
u
ce
d
b
y
t
h
e
tire
s
.
Fu
n
ctio
n
P
m
ay
r
e
p
r
esen
t
,
,
o
r
in
(
3
)
,
w
h
er
e
,
,
,
ℎ
,
an
d
s
tan
d
f
o
r
th
e
f
u
n
ctio
n
’
s
s
tiff
n
ess
f
ac
to
r
,
s
h
ap
e
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ac
to
r
,
p
ea
k
v
alu
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c
u
r
v
atu
r
e
f
ac
to
r
,
h
o
r
iz
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tal
s
h
if
t,
an
d
v
e
r
tical
s
h
if
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r
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ec
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n
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C
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tire
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o
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m
u
la,
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r
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ig
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elate
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er
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m
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d
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e
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av
i
o
r
[
3
0
]
,
[
3
1
]
.
T
h
is
m
o
d
el
u
s
es
a
p
o
ly
n
o
m
ial
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o
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m
u
latio
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o
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a
s
atu
r
atio
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u
n
c
tio
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,
(
)
,
to
esti
m
ate
th
e
n
o
r
m
al
ized
later
al
an
d
lo
n
g
itu
d
in
al
f
o
r
ce
s
,
an
d
,
r
esp
ec
tiv
ely
.
T
h
e
ty
r
e
v
er
tical
f
o
r
ce
,
,
th
e
co
ef
f
icien
t
o
f
f
r
ictio
n
f
o
r
th
e
r
o
ad
s
u
r
f
ac
e,
th
e
later
al
s
tiff
n
ess
co
ef
f
icien
t,
,
th
e
m
o
d
if
ied
lo
n
g
itu
d
in
al
s
tiff
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ess
co
ef
f
icien
t,
’
,
th
e
co
n
s
tan
t
f
o
r
th
e
ty
r
e
ca
m
b
er
a
n
g
le,
,
an
d
th
e
tire
ca
m
b
e
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g
le,
m
u
s
t
all
b
e
k
n
o
wn
in
o
r
d
er
to
u
s
e
th
is
m
o
d
el.
T
h
e
n
o
r
m
alize
d
later
al
a
n
d
lo
n
g
itu
d
in
al
f
o
r
ce
s
ca
n
b
e
ca
lcu
lated
u
s
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g
(
3
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.
(
,
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(
(
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(
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√
2
2
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′
2
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(
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′
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2
2
+
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2
(
4
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2
.
1
.
C
o
ntr
o
ller
dev
elo
pm
ent
T
h
e
lo
ca
tio
n
m
o
n
ito
r
in
g
s
y
s
tem
o
f
an
au
t
o
n
o
m
o
u
s
v
eh
icl
e
will
b
e
g
iv
en
a
n
ew
co
n
tr
o
l
s
tr
u
ctu
r
e.
T
h
is
ca
lls
f
o
r
th
e
u
s
e
o
f
two
b
asic
s
u
b
s
y
s
tem
co
n
tr
o
l
s
tr
ateg
ies:
s
teer
in
g
co
n
tr
o
l
to
tr
ac
k
later
al
m
o
tio
n
an
d
s
p
ee
d
co
n
tr
o
l
t
o
tr
ac
k
l
o
n
g
itu
d
in
al
m
o
tio
n
.
W
ith
o
u
t
th
e
u
s
e
o
f
a
p
ath
p
la
n
n
in
g
m
o
d
u
le,
th
e
v
eh
icle
is
d
ir
ec
ted
to
f
o
llo
w
a
p
r
e
-
d
ef
in
ed
tr
aje
cto
r
y
b
y
th
e
s
teer
in
g
co
n
tr
o
l
s
y
s
tem
.
Po
s
itio
n
tr
ac
k
in
g
co
n
tr
o
l
will
f
o
cu
s
o
n
later
al
an
d
lo
n
g
itu
d
in
al
m
o
tio
n
co
n
tr
o
l,
with
litt
le
o
r
n
o
atten
tio
n
p
ai
d
to
v
er
tical
v
eh
icle
m
o
tio
n
s
.
As
a
r
esu
lt,
th
is
th
esis
wo
n
’
t d
is
cu
s
s
s
u
s
p
e
n
s
io
n
co
n
tr
o
l.
Fig
u
r
e
4
o
u
tlin
es
th
e
co
r
e
e
lem
en
ts
f
o
r
a
u
to
n
o
m
o
u
s
v
eh
icle
co
n
tr
o
l,
f
o
c
u
s
in
g
o
n
s
te
er
in
g
a
n
d
b
r
ak
in
g
to
r
q
u
e
.
R
ef
er
en
ce
in
p
u
ts
f
r
o
m
h
ig
h
e
r
-
lev
el
co
n
tr
o
ller
s
in
clu
d
e
d
esire
d
later
al
p
o
s
itio
n
an
d
y
aw
an
g
le.
T
h
e
s
tate
es
tim
ato
r
u
s
es
s
en
s
o
r
d
ata
to
esti
m
ate
later
al
p
o
s
iti
o
n
an
d
y
aw
an
g
le.
T
h
e
a
d
a
p
tiv
e
m
o
d
el
p
r
ed
ictiv
e
co
n
tr
o
l
(
MPC
)
s
y
s
tem
em
p
lo
y
s
ad
ap
tatio
n
laws
to
ad
ju
s
t
co
n
tr
o
l
p
ar
am
eter
s
an
d
d
y
n
am
ic
m
o
d
els
in
r
esp
o
n
s
e
to
ch
an
g
i
n
g
c
o
n
d
itio
n
s
.
C
o
m
p
u
ted
b
r
ak
in
g
to
r
q
u
e
an
d
s
teer
in
g
an
g
le
ar
e
th
e
n
s
en
t
to
t
h
e
v
eh
icle
’
s
co
n
tr
o
l
s
y
s
tem
s
.
A
f
ee
d
b
ac
k
lo
o
p
co
m
p
ar
es a
ctu
al
s
tate
with
r
ef
er
en
ce
in
p
u
ts
,
en
ab
lin
g
r
ea
l
-
tim
e
a
d
ju
s
tm
en
ts
.
Fig
u
r
e
4
.
T
h
e
ap
p
licatio
n
o
f
a
n
a
d
ap
tiv
e
(
MPC
)
s
y
s
tem
in
an
au
to
n
o
m
o
u
s
ca
r
A
m
u
lti
-
s
tep
p
r
ed
ictio
n
co
n
tr
o
l
law
is
ad
o
p
ted
b
y
th
e
ad
ap
ti
v
e
MPC
co
n
tr
o
ller
,
wh
ich
co
r
r
ec
ts
f
au
lts
with
f
ee
d
b
ac
k
wh
ile
r
ep
ea
ted
l
y
o
p
tim
izin
g
.
T
h
e
ad
ap
tiv
e
M
PC
co
n
tr
o
ller
o
p
tim
izes stab
ili
ty
an
d
p
er
f
o
r
m
a
n
ce
wh
ile
h
av
in
g
p
o
s
itiv
e
ef
f
ec
ts
o
n
co
n
tr
o
ls
,
h
i
g
h
r
o
b
u
s
tn
ess
,
an
d
b
etter
b
alan
ci
n
g
o
f
co
n
tr
o
l
o
b
jectiv
es
an
d
h
an
d
lin
g
r
estrictio
n
s
o
f
th
e
s
y
s
tem
.
T
h
ese
b
en
ef
its
ar
e
cr
u
cial
f
ac
to
r
s
to
tak
e
in
to
ac
co
u
n
t
wh
ile
cr
ea
tin
g
au
to
m
atic
tr
ajec
to
r
y
t
r
ac
k
in
g
co
n
tr
o
ller
s
f
o
r
u
s
e
with
au
to
n
o
m
o
u
s
v
eh
icles.
T
r
ajec
to
r
y
tr
ac
k
in
g
is
u
s
ed
to
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
2
,
Ap
r
il
20
26
:
6
9
6
-
7
0
6
700
d
r
iv
e
th
e
ca
r
to
war
d
th
e
m
id
d
le
o
f
th
e
r
o
ad
b
y
co
n
tr
o
llin
g
t
h
e
s
teer
in
g
wh
ee
l
[
1
9
]
.
State
-
s
p
ac
e
m
o
d
ellin
g
is
u
s
ed
in
th
e
a
d
ap
tiv
e
MPC
co
n
tr
o
ller
’
s
v
e
h
icle
p
lan
t
m
o
d
el.
T
h
is
s
tate
-
s
p
ac
e
m
o
d
el
ca
n
b
e
a
cl
o
s
ed
-
lo
o
p
p
r
o
p
er
t
y
-
an
aly
s
is
an
d
h
as
v
ar
io
u
s
ad
v
a
n
tag
es
f
o
r
h
an
d
lin
g
m
u
ltiv
ar
iab
le
s
y
s
tem
s
.
In
(
5
)
illu
s
tr
ates
h
o
w
a
tim
e
-
in
v
ar
ian
t
lin
ea
r
eq
u
atio
n
(
L
T
I
)
ca
n
b
e
u
s
ed
to
ch
a
r
ac
ter
ize
th
e
s
y
s
tem
to
b
e
c
o
n
tr
o
lled
in
th
is
s
ce
n
ar
io
as
a
d
is
cr
ete
-
tim
e
s
tate
-
s
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e
m
o
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el
.
(
+
1
)
=
(
)
+
(
)
(
)
=
(
)
}
(
+
1
)
=
̄
+
(
(
)
−
̄
)
+
(
(
)
−
̄
)
(
)
=
̅
+
(
(
)
−
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)
}
(
5
)
T
h
e
s
tate
-
s
p
ac
e
m
o
d
el
o
n
th
e
co
m
p
ac
t
f
o
r
m
is
r
ep
r
esen
ted
b
y
(
4
)
.
W
h
er
e
(
)
,
(
)
,
an
d
(
)
ar
e
,
r
esp
ec
tiv
ely
,
th
e
c
o
n
tr
o
l
in
p
u
t
,
s
tate
v
ar
iab
le,
an
d
p
r
ed
ictio
n
o
u
tp
u
t
o
f
s
tep
.
T
h
e
y
aw,
y
a
w
r
ate,
an
d
g
lo
b
al
later
al
p
o
s
itio
n
ar
r
an
g
e
th
e
v
eh
icle
s
tate
in
(
5
)
.
T
h
e
wh
ee
l
s
teer
in
g
an
g
le
an
d
y
aw
m
o
m
en
t
s
er
v
e
as
th
e
co
n
tr
o
l
in
p
u
t.
T
h
e
(
6
)
is
ex
p
r
ess
in
g
th
e
ap
p
r
o
x
im
ate
d
y
n
a
m
ics
o
f
a
s
y
s
tem
u
s
in
g
a
f
ir
s
t
-
o
r
d
er
T
a
y
lo
r
s
er
ies
ex
p
an
s
io
n
ar
o
u
n
d
th
e
n
o
m
in
al
s
tate
an
d
co
n
tr
o
l
in
p
u
t.
I
t
’
s
a
lin
ea
r
izatio
n
th
at
allo
ws
f
o
r
lo
ca
l
an
aly
s
is
o
f
th
e
s
y
s
tem
’
s
b
eh
av
io
r
.
̇
=
(
0
,
0
)
+
[
|
|
0
,
0
]
⏟
(
)
(
−
0
)
+
[
|
|
0
,
0
]
⏟
(
)
(
−
0
)
}
(
6
)
T
h
e
s
teer
in
g
an
d
y
aw
m
o
m
e
n
t
in
p
u
ts
to
t
h
e
v
eh
icle
m
o
d
el
will
b
e
ca
lcu
lated
u
s
in
g
t
h
e
ad
ap
tiv
e
MPC
th
at
h
as
b
ee
n
co
m
p
o
s
ed
an
d
co
n
s
tr
u
cted
.
T
h
e
g
o
al
o
f
th
is
co
n
tr
o
l
in
p
u
t
is
to
s
teer
th
e
v
eh
icle
alo
n
g
th
e
p
r
ed
eter
m
in
e
d
co
u
r
s
e.
T
h
e
a
m
o
u
n
t
o
f
later
al
p
o
s
itio
n
an
d
h
ea
d
in
g
er
r
o
r
is
wh
at
d
eter
m
in
es
h
o
w
ac
cu
r
ately
th
e
v
eh
icle
f
o
llo
ws
th
e
d
ef
i
n
e
d
tr
ajec
to
r
y
.
T
h
e
ad
ap
tiv
e
MPC
co
n
tr
o
ller
m
ak
es
u
s
e
o
f
a
co
s
t
f
u
n
ctio
n
to
d
o
th
is
.
T
h
e
c
o
s
t
f
u
n
ctio
n
is
a
q
u
ad
r
atic
p
r
o
g
r
am
(
QP)
with
m
in
im
ized
o
p
tim
al
co
n
tr
o
l
in
p
u
t
an
d
t
h
e
d
esire
d
er
r
o
r
f
u
n
ctio
n
s
[
3
0
]
,
[
3
2
]
.
T
h
e
ad
ap
tiv
e
MPC
m
u
s
t
s
a
tis
f
y
th
e
o
b
jectiv
e
an
d
co
n
s
tr
ain
t
s
o
f
(
8
)
.
I
ts
d
esig
n
is
ch
allen
g
in
g
d
u
e
to
th
e
v
eh
icle
’
s
n
o
n
-
h
o
lo
n
o
m
ic
n
atu
r
e.
T
h
e
tr
ac
k
in
g
ac
cu
r
ac
y
is
g
o
v
er
n
ed
b
y
th
e
co
s
t
f
u
n
ctio
n
’
s
f
ir
s
t
ter
m
,
wh
ile
its
s
ec
o
n
d
an
d
th
ir
d
ter
m
s
r
eg
u
late
co
n
tr
o
l
e
f
f
o
r
t
ag
g
r
ess
iv
en
ess
.
T
h
e
co
n
tr
o
ller
m
u
s
t
th
en
co
m
p
u
te
th
e
o
p
tim
al
s
teer
in
g
an
d
y
aw
m
o
m
en
t
th
at
jo
in
tly
m
in
im
ize
th
is
co
s
t
f
u
n
ctio
n
wh
ile
ad
h
e
r
in
g
to
all
d
ef
in
ed
co
n
s
tr
ain
ts
.
A
r
ec
u
r
s
iv
e
least
s
q
u
ar
es
(
R
L
S)
esti
m
ato
r
u
p
d
a
tes
co
r
n
er
in
g
s
tiff
n
ess
p
ar
am
e
ter
s
o
n
lin
e,
d
ir
ec
tl
y
lin
k
in
g
t
h
e
Ad
a
p
tiv
e
MPC
to
th
e
v
e
h
icle
’
s
d
y
n
am
ic
s
tate.
T
h
e
co
r
e
ad
ap
tatio
n
m
ec
h
an
is
m
i
s
r
ea
lized
th
r
o
u
g
h
an
R
L
S
alg
o
r
ith
m
,
wh
ich
r
e
cu
r
s
iv
ely
u
p
d
ates
th
e
esti
m
atio
n
o
f
cr
itical
p
ar
am
eter
s
th
e
tire
-
r
o
ad
f
r
ictio
n
co
ef
f
icien
t (
)
at
ea
ch
tim
estep
(
)
v
ia
th
e
u
p
d
ate
(
7
)
.
ε
(
k
)
=
y
(
k
)
−
φ
(
k
)
θ
̂
(
k
−
1
)
K
(
k
)
=
P
(
k
−
1
)
φ
(
k
)
(
λ
+
φ
(
k
)
P
(
k
−
1
)
φ
(
k
)
θ̂
(
k
)
=
θ̂
(
k
−
1
)
+
K
(
k
)
ε
(
k
)
(
k
)
=
(
1
/
λ
)
[
P
(
k
−
1
)
−
K
(
k
)
φ
(
k
)
P
(
k
−
1
)
]
(
7
)
Key
p
ar
a
m
eter
s
ar
e
n
o
w
ex
p
licitly
p
r
o
v
i
d
ed
,
in
clu
d
i
n
g
a
p
r
ed
ictio
n
h
o
r
izo
n
o
f
2
0
s
tep
s
,
co
n
tr
o
l
h
o
r
i
z
o
n
o
f
5
,
a
n
d
e
m
p
i
r
i
c
a
l
l
y
t
u
n
e
d
w
e
i
g
h
t
i
n
g
m
a
t
r
i
c
es
(
,
a
n
d
)
o
p
t
i
m
i
z
e
d
f
o
r
p
a
t
h
-
t
r
a
c
k
i
n
g
,
w
i
t
h
a
5
0
m
s
s
a
m
p
l
i
n
g
t
i
m
e
.
T
h
e
r
o
ad
f
r
ictio
n
co
ef
f
icien
t
(
)
is
in
tr
in
s
icall
y
em
b
ed
d
e
d
in
th
e
ca
lcu
latio
n
o
f
th
e
n
o
n
lin
ea
r
tire
f
o
r
ce
s
,
wh
ich
f
o
r
m
th
e
f
o
u
n
d
atio
n
o
f
(
4
)
.
Sp
ec
if
ically
,
in
(
8
)
,
th
e
s
elf
-
alig
n
in
g
m
o
m
e
n
t
(
)
is
a
d
ir
ec
t
f
u
n
ctio
n
o
f
th
e
later
al
tire
f
o
r
c
es (
)
.
(
(
)
,
(
)
,
Δ
(
)
)
=
∑
‖
(
+
|
)
−
(
+
|
)
‖
2
=
1
+
∑
(
‖
Δ
(
+
−
1
)
‖
2
+
‖
(
+
−
1
‖
2
)
=
1
≤
≤
,
≤
≤
,
=
[
̇
]
=
[
]
(
8
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
P
erfo
r
ma
n
ce
a
s
s
ess
men
t o
f a
n
a
d
a
p
tive
mo
d
el
p
r
ed
ictive
co
n
tr
o
l
w
ith
to
r
q
u
e
b
r
a
kin
g
f
o
r
…
(
Zu
lka
r
n
a
in
)
701
2
.
2
.
L
o
ng
it
ud
ina
l t
y
re
f
o
rc
e
s
B
r
ak
in
g
to
r
q
u
e
g
en
er
ates
lo
n
g
itu
d
in
al
tire
f
o
r
ce
s
,
e
n
ab
lin
g
v
eh
icle
co
n
tr
o
l.
T
h
e
r
eq
u
ir
e
d
to
r
q
u
e
is
d
er
iv
ed
f
r
o
m
th
e
y
aw
m
o
m
e
n
t
n
ee
d
ed
to
m
ain
tain
s
tab
ilit
y
,
a
co
m
m
o
n
s
tab
ilit
y
co
n
tr
o
l
m
eth
o
d
.
T
h
ese
f
o
r
ce
s
o
r
ig
in
ate
at
th
e
tire
-
r
o
ad
co
n
tact
p
atch
a
n
d
m
u
s
t
o
b
ey
t
h
e
f
r
ictio
n
cir
cle
law
t
o
p
r
ev
en
t
tr
a
ctio
n
lo
s
s
.
Stan
d
ar
d
f
o
r
m
u
las
ca
n
ca
lc
u
late
later
al
an
d
lo
n
g
itu
d
i
n
al
f
o
r
ce
s
,
a
n
d
alg
o
r
ith
m
s
ca
n
o
p
tim
ize
to
r
q
u
e
d
is
tr
ib
u
tio
n
p
er
tire
f
o
r
tr
ajec
to
r
y
tr
ac
k
in
g
.
T
h
e
b
r
ak
in
g
m
o
d
u
le
s
tab
ilizes
th
e
v
eh
icle
d
u
r
i
n
g
s
h
ar
p
t
u
r
n
s
wh
ile
p
r
ev
en
tin
g
ex
ce
s
s
iv
e
later
al
ac
ce
ler
atio
n
.
Acc
o
r
d
in
g
to
th
e
alg
o
r
ith
m
d
escr
ib
ed
in
[
3
3
]
,
th
e
b
r
ak
i
n
g
to
r
q
u
e
u
tili
ze
d
to
d
eter
m
in
e
th
e
lo
n
g
itu
d
in
al
tire
f
o
r
ce
s
is
esti
m
ated
.
T
h
e
b
r
a
k
i
n
g
to
r
q
u
es o
f
a
tire
wer
e
ca
lcu
lated
u
s
in
g
(
8
)
.
=
|
|
(
−
1
(
−
)
√
2
+
2
>
0
,
−
≤
0
=
|
|
(
−
1
(
−
)
√
2
+
2
<
0
,
−
≤
0
=
|
|
(
−
1
(
−
)
√
2
+
2
>
0
,
−
>
0
=
|
|
(
−
1
(
−
)
√
2
+
2
<
0
,
−
>
0
}
(
9
)
2
.
3
.
T
ra
j
ec
t
o
ry
m
o
del
T
h
is
s
p
ec
if
ic
co
o
r
d
i
n
ate
p
o
in
t
d
en
o
tes
a
p
r
ec
is
e
g
e
o
g
r
a
p
h
ical
lo
ca
tio
n
,
eith
er
in
ter
m
s
o
f
lat
itu
d
e
an
d
lo
n
g
itu
d
e
o
r
v
ice
v
er
s
a,
t
o
ac
c
u
r
ately
d
elin
ea
te
t
h
e
p
ath
o
f
th
e
r
o
a
d
.
As
th
e
v
e
h
icle
u
n
d
er
g
o
es
th
e
m
a
n
eu
v
er
,
its
r
ea
l
-
tim
e
p
o
s
itio
n
o
n
th
e
g
l
o
b
al
ax
is
is
co
m
p
ar
ed
with
th
i
s
co
o
r
d
in
ate,
en
ab
lin
g
th
e
co
m
p
u
tatio
n
o
f
later
al
an
d
h
ea
d
in
g
er
r
o
r
s
.
T
o
ev
alu
ate
th
e
co
n
tr
o
ller
s
,
t
h
is
s
tu
d
y
em
p
lo
y
s
f
o
u
r
d
is
tin
ct
r
o
ad
tr
ajec
to
r
y
m
o
d
els,
as
d
ep
icted
in
Fig
u
r
e
5
.
T
h
ese
tr
ajec
to
r
y
is
d
esig
n
ated
b
ased
o
n
th
e
s
p
ec
if
ic
ch
ar
ac
ter
is
tics
an
d
co
n
t
o
u
r
s
o
f
t
h
e
r
o
ad
s
,
with
s
o
m
e
c
o
n
f
o
r
m
in
g
to
th
e
lan
e
c
h
an
g
e
tr
ajec
to
r
ies o
u
tlin
ed
in
th
e
r
esear
c
h
p
a
p
er
s
b
y
[
3
4
]
,
[
3
5
]
.
T
h
e
s
elec
tio
n
o
f
th
is
s
p
ec
if
ic
tr
ajec
to
r
y
is
h
ig
h
ly
i
n
ten
tio
n
a
l.
I
t
is
n
o
t
a
r
an
d
o
m
p
ath
b
u
t
a
co
n
d
en
s
ed
r
ep
r
esen
tatio
n
o
f
a
c
o
m
m
o
n
y
et
co
m
p
lex
d
r
i
v
in
g
task
th
at,
wh
en
p
er
f
o
r
m
ed
at
th
e
lim
its
o
f
v
eh
icle
d
y
n
am
ics,
b
ec
o
m
es
a
p
r
im
ar
y
s
af
ety
-
c
r
itical
s
ce
n
ar
io
.
T
esti
n
g
th
is
allo
ws
en
g
in
ee
r
s
to
en
s
u
r
e
th
at
a
v
eh
icle
ca
n
h
an
d
le
b
o
th
ev
e
r
y
d
a
y
d
r
i
v
in
g
a
n
d
em
er
g
en
cy
s
itu
atio
n
s
ef
f
ec
tiv
ely
.
Fig
u
r
e
5
.
L
a
n
e
ch
a
n
g
e
tr
ajec
to
r
y
f
o
r
co
n
tr
o
ller
test
in
g
3.
RE
SU
L
T
AND
DI
SCUS
SI
O
NS
A
h
ig
h
-
f
id
elity
v
eh
icle
d
y
n
am
ics
m
o
d
el
was
im
p
lem
e
n
ted
i
n
th
e
s
im
u
latio
n
to
ac
cu
r
ately
c
ap
tu
r
e
th
e
n
o
n
lin
ea
r
b
eh
a
v
io
r
o
f
t
h
e
a
u
to
n
o
m
o
u
s
v
e
h
icle.
T
h
e
co
r
e
o
f
th
is
m
o
d
el
r
elies
o
n
t
h
e
cr
itical
p
h
y
s
ical
p
ar
am
eter
s
d
etailed
in
T
ab
le
1
,
wh
ich
d
ef
in
e
k
e
y
p
r
o
p
er
ties
s
u
ch
as
m
ass
d
is
tr
ib
u
tio
n
,
in
e
r
tia,
an
d
tire
ch
ar
ac
ter
is
tics
.
T
h
e
c
o
m
p
a
r
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w
f
r
ictio
n
.
T
h
is
tr
en
d
s
u
g
g
ests
ty
r
e
f
o
r
ce
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atu
r
atio
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d
s
tr
o
n
g
er
n
o
n
lin
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r
ty
r
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d
y
n
a
m
ics
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d
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y
m
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el
m
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atch
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at
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ig
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ee
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lly
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ate.
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lts
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ly
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n
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o
l
d
esig
n
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ir
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ain
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ad
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s
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im
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icle
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elin
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o
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f
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esti
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atio
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a
n
d
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o
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ib
ly
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ig
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er
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o
l
b
a
n
d
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ilit
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ac
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ee
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d
lo
w
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f
r
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co
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itio
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.
(
a)
(
b
)
Fig
u
r
e
7
.
R
MSE
o
f
later
al
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r
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r
an
d
y
aw
r
ate
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h
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ce
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ities
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a)
f
r
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n
=
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6
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d
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b
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f
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3
4.
CO
NCLU
SI
O
N
T
h
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tu
d
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ed
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ated
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b
in
in
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MPC
with
a
p
r
o
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r
q
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e
b
r
ak
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d
is
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ib
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tio
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ateg
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,
to
en
h
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u
to
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o
m
o
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s
v
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ety
d
u
r
in
g
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ch
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e
m
an
eu
v
er
s
.
T
h
e
p
r
im
ar
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s
cien
tific
co
n
tr
ib
u
tio
n
is
t
h
e
s
y
n
er
g
is
tic,
r
ea
l
-
tim
e
co
o
r
d
in
atio
n
o
f
s
teer
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r
ak
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with
in
a
u
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ied
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r
ed
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o
p
tim
izatio
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o
p
.
Qu
an
titativ
e
s
im
u
latio
n
r
es
u
lts
ac
r
o
s
s
d
iv
er
s
e
s
p
ee
d
s
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1
0
-
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5
m
/s
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an
d
f
r
ictio
n
lev
els
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=
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3
to
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0
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c
o
n
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ir
m
th
e
f
r
am
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r
k
’
s
ef
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icac
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T
h
e
ad
a
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tiv
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d
em
o
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tr
ated
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5
2
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8
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av
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e
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ed
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ctio
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in
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r
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im
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r
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ed
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ilit
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ate
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r
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m
p
ar
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tiv
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T
h
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im
p
r
o
v
e
m
en
ts
ar
e
attr
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th
e
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ate
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itical
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eter
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ate
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m
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Ho
wev
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er
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a
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itatio
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er
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ig
h
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/s
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o
n
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w
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f
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n
r
o
a
d
s
.
T
h
e
p
r
im
ar
y
lim
itatio
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o
f
th
is
wo
r
k
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its
r
elian
ce
o
n
s
im
u
latio
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ased
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Fu
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ess
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