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This engineering textbook is designed to introduce advanced control systems for vehicles, including advanced automotive concepts and the next generation of vehicles for ITS. For each automotive control problem considered, the authors emphasize the physics and underlying principles behind the control system concept and design. This is an exciting and rapidly developing field for which many articles and reports exist but no modern unifying text. An extensive list of references is provided at the end of each chapter for all the topics covered. It is currently the only textbook, including problems and examples, that that covers and integrates the topics of automotive powertrain control, vehicle control, and intelligent transportation systems. The emphasis is on fundamental concepts and methods for automotive control systems, rather than the rapidly changing specific technologies. Many of the text examples, as well as the end-of-chapter problems, require the use of Matlab and/or Simulink Preface Introduction and background Introduction Motivation, Background, and Overview Overview of Automotive Control Systems Automotive Control-System Design Process Introduction dentifying the Control Requirements Review of Engine Modeling Engine Operations Engine Control Loops Control-Oriented Engine Modeling Review of Vehicle Dynamics Coordinates and Notation for Vehicle Dynamics Longitudinal Vehicle Motion Lateral Vehicle Motion Vertical Vehicle Motion Human Factors and Driver Modeling Human Factors in Vehicle Automation Driver Modeling Powertrain control systems Air–Fuel Ratio Control Lambda Control PI Control of a First-Order System with Delay Control of Spark Timing Knock Control Idle-Speed Control Transmission Control Electronic Transmission Control Clutch Control for AWD Control of Hybrid Vehicles Series, Parallel, and Split Hybrid Configurations Hybrid Vehicle-Control Hierarchy Control Concepts for Series Hybrids Control Concepts for Parallel Hybrids Control Concept for Split Hybrids Feedback-Based Supervisory Controller for PHEVs Modeling and Control of Fuel Cells for Vehicles Introduction Modeling of Fuel-Cell Systems Control of Fuel-Cell Systems Control of Fuel-Cell Vehicles Parametric Design Considerations Vehicle control systems Cruise and Headway Control Cruise-Controller Design Autonomous Cruise Control: Speed and Headway Control Antilock Brake and Traction-Control Systems Modeling Antilock Braking Systems Traction Control Vehicle Stability Control Introduction Linear Vehicle Model Nonlinear Vehicle Model SC Design Principles Four-Wheel Steering Basic Properties Goals of 4WS Algorithms Active Suspensions Optimal Active Suspension for Single-DOF Model Optimal Active Suspension for Two-DOF Model Optimal Active Suspension with State Estimation Intelligent transportation systems Overview of Intelligent Transportation Systems Advanced Traffic Management Systems Advanced Traveler Information Systems Commercial Vehicle Operations Advanced Vehicle-Control Systems Preventing Collisions Active Safety Technologies Collision Detection and Avoidance Longitudinal Motion Control and Platoons Site-Specific Information Platooning String Stability Automated Steering and Lateral Control Lane Sensing Automated Lane-Following Control Automated Lane-Change Control Appendices Appendix A: Review of Control-Theory Fundamentals Review of Feedback Control Mathematical Background and Design Techniques Appendix B: Two-Mass Three-Degree-of-Freedom Vehicle Lateral/Yaw/Roll Model Index