{"id":"https://openalex.org/W2122370851","doi":"https://doi.org/10.1109/cca.2009.5280934","title":"Steering control based on a two-level driver model: experimental validation and robustness tests","display_name":"Steering control based on a two-level driver model: experimental validation and robustness tests","publication_year":2009,"publication_date":"2009-07-01","ids":{"openalex":"https://openalex.org/W2122370851","doi":"https://doi.org/10.1109/cca.2009.5280934","mag":"2122370851"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2009.5280934","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280934","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) &amp; Intelligent Control, (ISIC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023557282","display_name":"Lghani Menhour","orcid":"https://orcid.org/0000-0002-5775-2858"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210165259","display_name":"H\u00f4pital Maison Blanche","ror":"https://ror.org/054bptx32","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210165259"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Lghani Menhour","raw_affiliation_strings":["INRETS-MA Laboratory: Chemin de la croix blanche, 13300 SALON DE PROVENCE cedex, FRANCE","Heudiasyc Laboratory, CNRS UMR 6599, Universit\u00e9 de Technologie de Compiegne, Compiegne, France","Chemin de la croix blanche, INRETS-MA Laboratory, Salon-de-Provence, France"],"affiliations":[{"raw_affiliation_string":"INRETS-MA Laboratory: Chemin de la croix blanche, 13300 SALON DE PROVENCE cedex, FRANCE","institution_ids":[]},{"raw_affiliation_string":"Heudiasyc Laboratory, CNRS UMR 6599, Universit\u00e9 de Technologie de Compiegne, Compiegne, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Chemin de la croix blanche, INRETS-MA Laboratory, Salon-de-Provence, France","institution_ids":["https://openalex.org/I4210165259"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018809586","display_name":"Dani\u00ebl Lechner","orcid":"https://orcid.org/0000-0003-2464-7565"},"institutions":[{"id":"https://openalex.org/I4210165259","display_name":"H\u00f4pital Maison Blanche","ror":"https://ror.org/054bptx32","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210165259"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Daniel Lechner","raw_affiliation_strings":["INRETS-MA Laboratory: Chemin de la croix blanche, 13300 SALON DE PROVENCE cedex, FRANCE","Chemin de la croix blanche, INRETS-MA Laboratory, Salon-de-Provence, France"],"affiliations":[{"raw_affiliation_string":"INRETS-MA Laboratory: Chemin de la croix blanche, 13300 SALON DE PROVENCE cedex, FRANCE","institution_ids":[]},{"raw_affiliation_string":"Chemin de la croix blanche, INRETS-MA Laboratory, Salon-de-Provence, France","institution_ids":["https://openalex.org/I4210165259"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049077907","display_name":"Ali Charara","orcid":"https://orcid.org/0000-0003-4599-0979"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ali Charara","raw_affiliation_strings":["Heudiasyc Laboratory, CNRS UMR 6599, Universit\u00e9 de Technologie de Compi\u00e8gne, 60205, FRANCE","Heudiasyc Laboratory, CNRS UMR 6599, Universit\u00e9 de Technologie de Compiegne, Compiegne, France"],"affiliations":[{"raw_affiliation_string":"Heudiasyc Laboratory, CNRS UMR 6599, Universit\u00e9 de Technologie de Compi\u00e8gne, 60205, FRANCE","institution_ids":["https://openalex.org/I102516824"]},{"raw_affiliation_string":"Heudiasyc Laboratory, CNRS UMR 6599, Universit\u00e9 de Technologie de Compiegne, Compiegne, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023557282"],"corresponding_institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I4210165259"],"apc_list":null,"apc_paid":null,"fwci":2.2913,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.89153908,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"125","last_page":"130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9783999919891357,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8357123136520386},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8221192359924316},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.7321782112121582},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6242762804031372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49305078387260437},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4705301523208618},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.4145391285419464},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35047411918640137},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.31017524003982544},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28001612424850464},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2142300009727478},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10764467716217041},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.10580253601074219},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.09200721979141235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08574065566062927}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8357123136520386},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8221192359924316},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7321782112121582},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6242762804031372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49305078387260437},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4705301523208618},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4145391285419464},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35047411918640137},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31017524003982544},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28001612424850464},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2142300009727478},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10764467716217041},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.10580253601074219},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.09200721979141235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08574065566062927},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2009.5280934","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280934","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) &amp; Intelligent Control, (ISIC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.44999998807907104,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W216186922","https://openalex.org/W1536861844","https://openalex.org/W1544016679","https://openalex.org/W1617067953","https://openalex.org/W1968685799","https://openalex.org/W1983932784","https://openalex.org/W1992340277","https://openalex.org/W2014728090","https://openalex.org/W2037601577","https://openalex.org/W2046474582","https://openalex.org/W2061272090","https://openalex.org/W2066260126","https://openalex.org/W2068855317","https://openalex.org/W2107602045","https://openalex.org/W2111367974","https://openalex.org/W2145275724","https://openalex.org/W2980070341","https://openalex.org/W4300995080"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2165013373","https://openalex.org/W2922503265","https://openalex.org/W4320922540","https://openalex.org/W82747921","https://openalex.org/W4384916966","https://openalex.org/W1955413402"],"abstract_inverted_index":{"In":[0],"this":[1],"article":[2],"we":[3],"study":[4],"a":[5,45,82,93,110,114,146,151,165],"two-level":[6],"driver":[7,137],"model":[8,85,138,149],"composed":[9],"of":[10,37,55,66,70,76,95,135],"one":[11,14],"anticipatory":[12,18],"and":[13,58,131,150],"compensatory":[15,41],"control.":[16],"The":[17,40,104],"control,":[19,42],"executed":[20,43],"in":[21,44,117,139],"an":[22,88],"open":[23],"loop,":[24,47],"is":[25,79],"based":[26],"mainly":[27],"on":[28,81],"the":[29,34,38,53,64,67,71,96,100,118,124,133,136,157],"standard":[30],"linear":[31,83,147],"equations":[32],"for":[33,52,63],"lateral":[35,56,125],"dynamics":[36],"vehicle.":[39,72],"closed":[46],"uses":[48],"N":[49,60,119],"PID":[50,61,77,120],"controllers":[51,62,78,106,121],"correction":[54,65],"deviation,":[57],"other":[59],"yaw":[68],"angle":[69],"However,":[73],"each":[74],"pair":[75],"synthesized":[80],"bicycle":[84],"(or":[86],"around":[87],"operating":[89],"point":[90],"represented":[91],"by":[92,109,129,171],"value":[94],"longitudinal":[97],"velocity)":[98],"using":[99],"Ziegler-Nichols":[101],"oscillation":[102],"method.":[103],"different":[105,143],"are":[107],"managed":[108],"switch.":[111],"We":[112,127],"introduce":[113],"time":[115],"delay":[116],"to":[122,141],"correct":[123],"deviation.":[126],"conclude":[128],"validating":[130],"testing":[132],"robustness":[134],"relation":[140],"two":[142],"vehicle":[144,169],"models:":[145],"parameter-varying":[148],"nonlinear":[152],"four-wheel":[153],"model.":[154],"Note":[155],"that":[156],"experimental":[158],"data":[159],"used":[160],"here":[161],"were":[162],"obtained":[163],"from":[164],"Peugeot":[166],"307":[167],"laboratory":[168],"developed":[170],"INRETS-MA.":[172]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-03-21T06:30:42.041108","created_date":"2025-10-10T00:00:00"}
