Leo Laine

2023

Trajectory-Following and Off-Tracking Minimization of Long Combination Vehicles: A Comparison Between Nonlinear and Linear Model Predictive Control

Improved Lateral Performance of a Long Combination Vehicle Based on Artificial Flow Guidance

2022

A feedback-feed-forward steering control strategy for improving lateral dynamics stability of an A-double vehicle at high speeds

Safe operating envelope for limiting actuation of electric trailer in tractor-semitrailer combination

On the Control Allocation Performance of Longer Combination Vehicles

Reviewing control allocation using quadratic programming for motion control and power coordination of battery electric vehicles

Motion control and power coordination of electric propulsion and braking distributed on multiple axles on heavy vehicles

A METHOD FOR ESTIMATING TYRE NORMAL FORCE

Design of a Robust Load-dependent Steering Controller for Improved High Capacity Vehicle Safety

2021

Transportation-mission-based Optimization of Heterogeneous Heavy-vehicle Fleet Including Electrified Propulsion

2021

Real-time Predictive Energy Management of Hybrid Electric Heavy Vehicles by Sequential Programming

Concept design of electric cruise and startability axles for long haul heavy vehicles to maximise driving range

2020

Computationally Efficient Nonlinear One-and Two-Track Models for Multitrailer Road Vehicles

2020

Optimization data on total cost of ownership for conventional and battery electric heavy vehicles driven by humans and by Automated Driving Systems

Tactical Decision-Making in Autonomous Driving by Reinforcement Learning with Uncertainty Estimation

Vehicle Motion management for a vehicle combination, how VMM and interface are partitioned between vehicle units to support e-dolly and auto-coupling

Combining Planning and Deep Reinforcement Learning in Tactical Decision Making for Autonomous Driving

Methods for Reducing Highspeed Off-Tracking in Multitrailer Heavy-Duty Vehicles

Predictive Energy and Motion Management for Multitrailer Heavy-Duty Vehicles

Coupling force and coupling torque estimation for coupling control

Gain-scheduled H Controller Synthesis for Actively-steered Longer and Heavier Commercial Vehicles

2020

Impact of automated driving systems on road freight transport and electrified propulsion of heavy vehicles

A method of controlling operation of an articulated vehicle combination (Dolly E-cruise)

Fusion of friction data and training of friction and load bearing estimator

Safe estimation of tyre normal forces on multi-axle vehicles

2019

Trends in vehicle motion control for automated driving on public roads

A method of determining an allowable vehicle state space for an articulated vehicle

A control unit and a method for determining a value indicative of a load bearing capability of a ground segment supporting a vehicle (Road condition estimation system with camera and IR sensor)

Estimation of friction with varying normal force in suspension or wheel end and using fast acting wheel motors or drive axles with fast response

Friction estimation during steering a vehicle in automated driving

Automated Speed and Lane Change Decision Making using Deep Reinforcement Learning

Method and arrangement for vehicle stabilization

Robust tracking controller design for active dolly steering

Method and arrangement for vehicle stabilization

LATERAL CONTROL OF AN A-DOUBLE COMBINATION VEHICLE CONSIDERING DIFFERENT MEASUREMENT SIGNALS AND DOLLY STEERING CONFIGURATIONS

On actions of long combination vehicle drivers prior to lane changes in dense highway traffic – A driving simulator study

Rethink EE Architecture in Automotive to facilitate Automation,

Sensitivity Analysis of Optimal Energy Management in Plug-in Hybrid Heavy Vehicles

A Simulator Study Comparing Characteristics of Manual and Automated Driving During Lane Changes of Long Combination Vehicles

2016

Improving directional stability control in a heavy truck by combining braking and steering action

Large Moving Base Simulators and Automation Design for Heavy Vehicles - Case Study for HCT

Brake system design for future heavy goods vehicles

Development and Evaluation of an Experimental Platform for Steered Axles of Long Combination Vehicles

Quantification of Excitation Required for Accurate Friction Estimation

Optimization Based Design of Heterogeneous Truck Fleet and Electric Propulsion

2016

Influence of hill-length on energy consumption for hybridized heavy transports in long-haul transports

Driver Model Based Automated Driving of Long Vehicle Combinations in Emulated Highway Traffic

Design and Evaluation of a Customizable Multi-Domain Reference Architecture on top of Product Lines of Self-Driving Heavy Vehicles – An Industrial Case Study

2015

Combining Coordination of Motion Actuators with Driver Steering Interaction

Automated highway lane changes of long vehicle combinations: A specific comparison between driver model based control and non-linear model predictive control

Real-Time NMPC for Semi-Automated Highway Driving of Long Heavy Vehicle Combinations

Improve Safety by Optimal Steering Control of a Converter Dolly using Particle Swarm Optimization for Low-Speed Maneuvers

Improving yaw stability control in severe instabilities by means of a validated model of driver steering

A Lane-Change Gap Acceptance Scenario Developed for Heavy Vehicle Active Safety Assessment: A Driving Simulator Study

Introduction of Traffic Situation Management for a rigid truck, tests conducted on object avoidance by steering within ego lane

Inverse Model Control Including Actuator Dynamics for Active Dolly Steering in High Capacity Transport Vehicle

A Driver Model Using Optic Information for Longitudinal and Lateral Control of a Long Vehicle Combination

Coordination of Actuators for an A-double Heavy Vehicle Combination

2014

Driver response at tyre blow-out in heavy vehicles & the importance of scrub radius

2014

Driver Response to Automatic Braking under Split Friction Conditions

2014

Evaluation of Dynamical Behaviour of Long Heavy Vehicles Using Performance Based Characterstics

2014

Vectorized single-track model in Modelica for articulated vehicles with arbitrary number of units and axles

Performance characteristics for automated driving of long heavy vehicle combinations evaluated in motion simulator

2014

Performance Improvement for A-double Combination by introducing a Smart Dolly

2014

The influence of steering wheel size when tuning power assistance

Predictive Driver Interpreter by using Inverse Model for Heavy Vehicles

2009

Real-time performance of control allocation for actuator coordination in heavy vehicles

Proposal for Using Sine with Dwell on Low Friction for the Evaluation of Yaw Stability for Heavy Vehicle Combinations

Traction and braking of hybrid electric vehicles using control allocation

Brake Blending for Hybrid Electric Vehicles using Control Allocation

Control allocation based electronic stability control system for a conventional road vehicle

2007

Reconfigurable Motion Control Systems for Over-Actuated Road Vehicles

Traction and Braking of Hybrid Electric Vehicles using Control Allocation

Coordination of Vehicle Motion and Energy Management Control Systems for Wheel Motor Driven Vehicles

2005

On vehicle system control architecture for fuel cell- and hybrid electric vehicles

Wheel Force Distribution for Improved Handling in a Hybrid Electric Vehicle using Nonlinear Control

Evaluation of a generic vehicle motion control architecture

LS-DYNA3D Finite Element Analysis of a Chain Link at a Fairlead in a Mooring System.