https://m2.mtmt.hu/ hun 2026-03-15 02:50 JournalArticle 33555101 ADMIN_APPROVED true 0 false 2026-03-13T05:43:13.707+0000 2025-01-12T09:43:39.785+0000 2023-01-11T15:04:22.165+0000 true 10001105 Csernák Gábor /api/author/10001105 Author true 10001105 2026-01-06T10:16:36.475+0000 2025-01-12T09:43:39.984+0000 true 10065569 Pécsi Éva /api/admin/10065569 Admin true Admin 10014568 /api/admin/10014568 Vándor Andrea true 10014568 true 2025-06-04T14:23:08.440+0000 true false true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType 101 true 10000059 true 1 /api/category/1 Category true 1 Bartfai, Andras Stability analysis of a digital hierarchical steering controller of autonomous vehicles with multiple time delays true true /api/journal/30231 REVIEWED true false 30231 false 30231 true 1077-5463 1741-2986 Journal FOREIGN 30 1-2 330 341 330 12 2024 This study investigates the lane-keeping control of autonomous vehicles with an emphasis on the digital delayed nature of the system. The vehicle dynamics are represented using a kinematic bicycle model, and a hierarchical lane-keeping controller is introduced with multiple delays in the feedback loop. An extension of the semidiscretization method is presented, in order to perform the stability analysis of the digitally controlled vehicle with multiple discrete time delays. The differences between the continuous approximation and the exact consideration of discrete time delays are highlighted. We show that in certain cases, neglecting the effects of quantization can lead to significant inaccuracies, especially when tuning the lower-level controller. The results are verified using a series of small-scale laboratory experiments. true 2023 true true true false true false GREEN 2026-03-13 true http://real.mtak.hu/173985 8 0 8 5 2 8 8 8 6 8 8 5 5 5 2 1 8 5 8 5 1 8 8 Folyóiratcikk Journal Article 24 8 Könyvrészlet Chapter in Book 25 0 Könyv Book 23 0 Egyéb konferenciaközlemény Conference paper 31 0 Egyéb konferenciakötet Conference proceedings 32 0 Oltalmi formák Protection forms 26 0 Disszertáció Thesis 28 0 Egyéb Miscellaneous 29 0 Alkotás Achievement 22 0 Kutatási adat Research data 33 0 Folyóiratcikk Journal Article 24 0 0 0 Könyvrészlet Chapter in Book 25 0 0 0 Könyv Book 23 0 0 0 Egyéb konferenciaközlemény Conference paper 31 0 0 0 Egyéb konferenciakötet Conference proceedings 32 0 0 0 Oltalmi formák Protection forms 26 0 0 0 Disszertáció Thesis 28 0 0 0 Egyéb Miscellaneous 29 0 0 0 Alkotás Achievement 22 0 0 0 Kutatási adat Research data 33 0 0 0 2024 0 2 2 2 2 2025 0 4 2 4 2 2026 0 2 1 2 1 Q1 false 10076973 false false false 2023-04-11T14:04:22.936+0000 ELKH-BME Gépek Dinamikája Kutatócsoport (BME / GPK / MM); MTA-BME Lendület Szerszámgéprezgések Kutatócsoport (BME / GPK / MM); Műszaki Mechanikai Tanszék (BME / GPK) 3 7 3 3 0 true 10014568 Language 10002 /api/language/10002 Angol English true 2 true PersonAuthorship 106257294 /api/authorship/106257294 1 0.33333334 true false false Author 10076973 /api/author/10076973 Bártfai András true true Bartfai Andras true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 106257295 /api/authorship/106257295 2 0.333 false false false Author 10063326 /api/author/10063326 Vörös Illés true 10063326 true Voros Illes true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 106257296 /api/authorship/106257296 3 0.333 false true false Author 10019718 /api/author/10019718 Takács Dénes true 10019718 true Takacs Denes true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PublicationIdentifier 22824146 /api/publicationidentifier/22824146 PlainSource 6 /api/publicationsource/6 PublicationSourceType 10001 /api/publicationsourcetype/10001 true true true DOI DOI https://doi.org/@@@ true true 6 true IDENTICAL 10.1177/10775463221146624 https://doi.org/10.1177/10775463221146624 false true PublicationIdentifier 22824147 /api/publicationidentifier/22824147 PlainSource 141 /api/publicationsource/141 PublicationSourceType 10006 /api/publicationsourcetype/10006 true true true Kiadónál At publisher @@@ true true 141 true http://journals.sagepub.com/doi/10.1177/10775463221146624 http://journals.sagepub.com/doi/10.1177/10775463221146624 false true PublicationIdentifier 23592384 /api/publicationidentifier/23592384 PlainSource 1 /api/publicationsource/1 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true WoS WoS https://www.webofscience.com/wos/woscc/full-record/@@@ true true 1 true IDENTICAL 000906868100001 https://www.webofscience.com/wos/woscc/full-record/000906868100001 false true PublicationIdentifier 24386589 /api/publicationidentifier/24386589 SwordSource 36 /api/publicationsource/36 PublicationSourceType 10007 /api/publicationsourcetype/10007 true true true REAL REAL http://real.mtak.hu/@@@ true true 36 true GREEN true 173985 http://real.mtak.hu/173985 false true PublicationIdentifier 23592385 /api/publicationidentifier/23592385 PlainSource 3 /api/publicationsource/3 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true Scopus Scopus http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-@@@ true true 3 true IDENTICAL 85145713364 http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85145713364 false true PublicationIdentifier 26013909 /api/publicationidentifier/26013909 PlainSource 40 /api/publicationsource/40 PublicationSourceType 10006 /api/publicationsourcetype/10006 true true true Egyéb URL Other URL @@@ true true 40 true https://phd.gpk.bme.hu/pub/s/j/l9/t3?3001770 https://phd.gpk.bme.hu/pub/s/j/l9/t3?3001770 true true Classification 10807 /api/classification/10807 true true SjrRating 11443037 /api/sjrrating/11443037 31 0.24 journal RatingType 10002 /api/ratingtype/10002 sjr true true ClassificationExternal 2203 /api/classificationexternal/2203 true 2203 true Q1 DIRECT true true Reference 37291925 /api/reference/37291925 1 10.1109/87.370719 false true Reference 37291926 /api/reference/37291926 2 10.1007/s10846-016-0442-0 false true Reference 37291927 /api/reference/37291927 3 false true Reference 37291928 /api/reference/37291928 4 10.1016/j.ifacol.2018.07.189 false true Reference 37291929 /api/reference/37291929 5 false true Reference 37291930 /api/reference/37291930 6 10.1109/ECC.2015.7330855 false true Reference 37291931 /api/reference/37291931 7 10.1002/rob.20135 false true Reference 37291932 /api/reference/37291932 8 10.1109/TAC.1976.1101230 false true Reference 37291933 /api/reference/37291933 9 false true Reference 37291934 /api/reference/37291934 10 10.1016/j.aap.2011.04.026 false true Reference 37291935 /api/reference/37291935 11 10.1016/j.mechatronics.2009.04.012 false true Reference 37291936 /api/reference/37291936 12 10.1007/s11071-019-05268-z false true Reference 37291937 /api/reference/37291937 13 10.1163/156855307779293715 false true Reference 37291938 /api/reference/37291938 14 10.1109/ACC.2007.4282788 false true Reference 37291939 /api/reference/37291939 15 10.1007/978-1-4614-0335-7 false true Reference 37291940 /api/reference/37291940 16 false true Reference 37291941 /api/reference/37291941 17 10.1098/rsta.2009.0246 false true Reference 37291942 /api/reference/37291942 18 10.1109/TITS.2015.2450738 false true Reference 37291943 /api/reference/37291943 19 10.1080/15389588.2013.871003 false true Reference 37291944 /api/reference/37291944 20 10.1109/TIV.2016.2608003 false true Reference 37291945 /api/reference/37291945 21 10.1007/s11071-007-9280-8 false true Reference 37291946 /api/reference/37291946 22 10.1177/0361198106194400103 false true Reference 37291947 /api/reference/37291947 23 10.1016/j.conengprac.2011.08.005 false true Reference 37291948 /api/reference/37291948 24 10.1109/IVS.2005.1505141 false true Reference 37291949 /api/reference/37291949 25 false true Reference 37291950 /api/reference/37291950 26 10.1109/TITS.2020.2983553 false true Reference 37291951 /api/reference/37291951 27 10.1115/1.2192835 false true Reference 37291952 /api/reference/37291952 28 10.1016/S0020-7683(00)00158-X false true Reference 37291953 /api/reference/37291953 29 10.1109/IVS.2000.898430 false true Reference 37291954 /api/reference/37291954 30 false true Reference 37291955 /api/reference/37291955 31 10.3311/PPme.17269 false true Reference 37291956 /api/reference/37291956 32 10.1016/j.measurement.2012.07.018 false true /api/publication/33555101 <div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10076973"><a href="/gui2/?type=authors&mode=browse&sel=10076973" target="_blank">Bartfai Andras (<span class="authorship-author-name">Bártfai András</span> <span class="authorAux-mtmt"> Műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék; <span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/<span title="Műszaki Mechanikai Tanszék">MM</span>/MTA-BME Lendület Szerszámgéprezgések Kutatócsoport</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10063326"><a href="/gui2/?type=authors&mode=browse&sel=10063326" target="_blank">Voros Illes (<span class="authorship-author-name">Vörös Illés</span> <span class="authorAux-mtmt"> műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék; <span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/<span title="Műszaki Mechanikai Tanszék">MM</span>/ELKH-BME Gépek Dinamikája Kutatócsoport</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10019718"><a href="/gui2/?type=authors&mode=browse&sel=10019718" target="_blank">Takacs Denes (<span class="authorship-author-name">Takács Dénes</span> <span class="authorAux-mtmt"> Műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék; <span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/<span title="Műszaki Mechanikai Tanszék">MM</span>/ELKH-BME Gépek Dinamikája Kutatócsoport</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;33555101" target="_blank">Stability analysis of a digital hierarchical steering controller of autonomous vehicles with multiple time delays</a></div> <div> <span class="journal-title">JOURNAL OF VIBRATION AND CONTROL</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/1077-5463">1077-5463</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/1741-2986">1741-2986</a>)</span>: <span class="journal-volume">30</span> <span class="journal-issue">1-2</span> <span class="page"> pp 330-341 </span> <span class="year">(2024)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1177/10775463221146624" target="_blank" href="https://doi.org/10.1177/10775463221146624"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="http://journals.sagepub.com/doi/10.1177/10775463221146624" target="_blank" href="http://journals.sagepub.com/doi/10.1177/10775463221146624"> Kiadónál </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="000906868100001" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/000906868100001"> WoS </a> </span> <span class="id identifier oa_GREEN" title=" Green "> <a style="color:black" title="173985" target="_blank" href="http://real.mtak.hu/173985"> REAL </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="85145713364" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85145713364"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="https://phd.gpk.bme.hu/pub/s/j/l9/t3?3001770" target="_blank" href="https://phd.gpk.bme.hu/pub/s/j/l9/t3?3001770"> Egyéb URL </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Folyóirat szakterülete: Scopus - Automotive Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Aerospace Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Materials Science (miscellaneous)&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Mechanical Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Mechanics of Materials&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> </div></OnlyViewableByAuthor> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="Nyilvános idézőközlemények összesen, említések nélkül" class="citingPub-count">Nyilvános idéző összesen: 8</span> | Független: 5 | Függő: 2 | Nem jelölt: 1 | WoS jelölt: 8 | Scopus jelölt:&nbsp;6 | WoS/Scopus jelölt:&nbsp;8 | DOI jelölt:&nbsp;8 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;33555101&sort=publishedYear,desc&sort=title"> Idézett közlemények száma: 8 </a> </div> <div class="mtid"><span class="long-pub-mtid">Közlemény: 33555101</span> | <span class="status-data status-ADMIN_APPROVED"> Admin láttamozott </span> Forrás Idéző | <span class="type-subtype">Folyóiratcikk ( Szakcikk ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="notDuplums"><a target="_blank" href="/api/publication/33555101/notduplums">350 Nem duplumnak jelölés</a> </div> <div class="lastModified">Utolsó módosítás: 2025.01.12. 10:43 Pécsi Éva (MTMT Közp 2,3, admin) </div> <div class="lockedBy">Központi kezelésű 2025.06.04. 16:23 Vándor Andrea (VA, admin) </div> </div></div>