{"id":"https://openalex.org/W2019209477","doi":"https://doi.org/10.1109/tvt.2014.2361063","title":"Torque-Vectoring-Based Vehicle Control Robust to Driver Uncertainties","display_name":"Torque-Vectoring-Based Vehicle Control Robust to Driver Uncertainties","publication_year":2014,"publication_date":"2014-10-01","ids":{"openalex":"https://openalex.org/W2019209477","doi":"https://doi.org/10.1109/tvt.2014.2361063","mag":"2019209477"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2014.2361063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2014.2361063","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},"type":"article","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/A5018815077","display_name":"Saeid Khosravani","orcid":"https://orcid.org/0000-0001-9122-0508"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Saeid Khosravani","raw_affiliation_strings":["Department of Mechanical and Mechatronics, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018486575","display_name":"Alireza Kasaiezadeh","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Alireza Kasaiezadeh","raw_affiliation_strings":["Department of Mechanical and Mechatronics, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020470831","display_name":"Amir Khajepour","orcid":"https://orcid.org/0000-0002-1998-6100"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Khajepour","raw_affiliation_strings":["Department of Mechanical and Mechatronics, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001551882","display_name":"Bar\u0131\u015f Fi\u0307dan","orcid":"https://orcid.org/0000-0002-5333-0201"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Baris Fidan","raw_affiliation_strings":["Department of Mechanical and Mechatronics, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112251492","display_name":"Shih-Ken Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shih-Ken Chen","raw_affiliation_strings":["Global Research and Development Center, General Motors Company, Warren, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Global Research and Development Center, General Motors Company, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009781148","display_name":"Bakhtiar Litkouhi","orcid":null},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bakhtiar Litkouhi","raw_affiliation_strings":["Global Research and Development Center, General Motors Company, Warren, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Global Research and Development Center, General Motors Company, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5932,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.9013521,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"64","issue":"8","first_page":"3359","last_page":"3367"},"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":0.9972000122070312,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9968000054359436,"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/carsim","display_name":"CarSim","score":0.908147931098938},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.6925698518753052},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6096319556236267},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5494059324264526},{"id":"https://openalex.org/keywords/electronic-stability-control","display_name":"Electronic stability control","score":0.5277208685874939},{"id":"https://openalex.org/keywords/automobile-handling","display_name":"Automobile handling","score":0.5072348117828369},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49842333793640137},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.49712398648262024},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49601539969444275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.481177419424057},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47933778166770935},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.4751991033554077},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43572989106178284},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4298306405544281},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.408689945936203},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3377837538719177},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3364788293838501}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.908147931098938},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.6925698518753052},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6096319556236267},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5494059324264526},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.5277208685874939},{"id":"https://openalex.org/C148381915","wikidata":"https://www.wikidata.org/wiki/Q870020","display_name":"Automobile handling","level":2,"score":0.5072348117828369},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49842333793640137},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.49712398648262024},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49601539969444275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.481177419424057},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47933778166770935},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.4751991033554077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43572989106178284},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4298306405544281},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.408689945936203},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3377837538719177},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3364788293838501},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2014.2361063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2014.2361063","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W199423843","https://openalex.org/W1534505570","https://openalex.org/W1600724409","https://openalex.org/W1968452087","https://openalex.org/W1968685799","https://openalex.org/W1977992720","https://openalex.org/W1985845333","https://openalex.org/W1987819112","https://openalex.org/W1991990178","https://openalex.org/W1995488217","https://openalex.org/W1997750410","https://openalex.org/W2007784570","https://openalex.org/W2017079258","https://openalex.org/W2041574867","https://openalex.org/W2043089693","https://openalex.org/W2054624091","https://openalex.org/W2058366350","https://openalex.org/W2058844926","https://openalex.org/W2061432680","https://openalex.org/W2072016475","https://openalex.org/W2088303522","https://openalex.org/W2093092271","https://openalex.org/W2151977651","https://openalex.org/W2156557762","https://openalex.org/W2225801964","https://openalex.org/W2296319761","https://openalex.org/W4250589301","https://openalex.org/W6635988430"],"related_works":["https://openalex.org/W2009041800","https://openalex.org/W2007435079","https://openalex.org/W3090097794","https://openalex.org/W2185409886","https://openalex.org/W2516596109","https://openalex.org/W2502965142","https://openalex.org/W127046527","https://openalex.org/W2337289474","https://openalex.org/W1996466923","https://openalex.org/W2898040335"],"abstract_inverted_index":{"Driver-in-the-loop":[0],"stability":[1,62,196],"is":[2,28,66,85,104,197],"a":[3,12,21,44,64,69,77,81,154,164,171,182],"central":[4],"issue":[5],"in":[6,20,107,174],"vehicle":[7,33,83,157,167,191,195],"control":[8,45,119],"systems.":[9],"However,":[10],"since":[11],"general":[13],"human":[14,55,141],"behavior":[15],"model":[16,79,84,168,173],"to":[17,96,120,128,139],"explore":[18],"it":[19],"quantitative":[22],"fashion":[23],"has":[24],"been":[25],"lacking,":[26],"little":[27],"known":[29],"about":[30],"how":[31],"the":[32,39,49,73,97,115,122,140,148,151,161,200],"can":[34,145],"be":[35],"controlled":[36],"while":[37],"considering":[38,48],"driver":[40,50,78,155,172,189],"effects.":[41],"Indeed,":[42],"applying":[43],"method":[46],"without":[47],"effects,":[51],"and":[52,57,80,133,190],"instead":[53],"separating":[54],"level":[56],"machine":[58],"dynamic":[59],"layers,":[60],"guaranteeing":[61],"of":[63,72,109,117,131,135,150,153],"vehicle,":[65],"impossible.":[67],"Here,":[68],"new":[70],"formulation":[71,144],"problem":[74],"that":[75,88,194],"involves":[76],"linear":[82],"proposed.":[86],"Given":[87],"practical":[89],"controllers":[90],"usually":[91],"do":[92],"not":[93],"have":[94],"access":[95],"future":[98],"road":[99],"preview":[100],"data,":[101],"this":[102],"information":[103],"also":[105],"modeled":[106],"terms":[108],"bounded":[110],"uncertainties.":[111],"The":[112,143,178],"design":[113],"allows":[114],"tools":[116],"robust":[118],"stabilize":[121],"system,":[123],"offering":[124],"an":[125],"implementable":[126],"approach":[127],"overcome":[129],"ranges":[130],"delay":[132],"uncertainties":[134],"closed-loop":[136],"modeling":[137],"due":[138],"presence.":[142],"further":[146],"deepen":[147],"understanding":[149],"effects":[152],"during":[156],"steering.":[158],"To":[159],"evaluate":[160],"proposed":[162,201],"controller,":[163],"nonlinear":[165],"full":[166],"along":[169],"with":[170],"CarSim":[175],"are":[176],"used.":[177],"simulations":[179],"performed":[180],"for":[181],"standard":[183],"harsh":[184],"double-lane-change":[185],"scenario":[186],"under":[187],"different":[188],"conditions":[192],"demonstrate":[193],"enhanced":[198],"using":[199],"controller.":[202]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
