Publications

Peer Reviewed Journal and Conference Papers

Na X and Cole DJ "Application of open-loop stackelberg equilibrium to modelling a human driver controlling a vehicle equipped with active front steering" submitted to IEEE Transactions.

Nash C and Cole DJ "Identification of a novel model of driver steering control incorporating human sensory dynamics" submitted to Biological Cybernetics.

Tagesson K and Cole DJ "Advanced emergency braking under split friction conditions and the influence of a destabilising steering wheel torque" in press, Vehicle System Dynamics.

Braghieri G, Haslam A, Sideris M, Timings JP and Cole DJ "Evaluating road vehicle stability and controllability in a transient manoeuvre using compensatory steering response" ASME Journal of Dynamic Systems, Measurement and Control.

Nash C, Cole DJ and Bigler S, "A review of human sensory dynamics for application to models of driver steering and speed control" Biological Cybernetics, June 2016, Volume 110, Issue 2pp 91–116.

Johns TA and Cole DJ "Measurement and mathematical model of a driver's intermittent compensatory steering control" Vehicle System Dynamics, 53(12), p1811-1829, 2015.

Na X and Cole DJ "Game theoretic modelling of the steering interaction between a human driver and a vehicle collision avoidance controller", IEEE Transactions on Human-Machine Systems, 45(1), p25-38, Feb 2015.

Timings JP and Cole DJ "Robust lap-time simulation", Proc. IMechE, Part D: J. Automobile Engineering, vol. 228, p1200-1216, September 2014.

Odhams AMC and Cole DJ "Identification of preview steering control models using data from a driving simulator and a randomly curved road path", International Journal of Autonomous Vehicle Systems, Vol.12, No.1, p44-64, 2014.

Timings JP and Cole DJ "Minimum manoeuvre time calculation using convex optimisation", ASME Journal of Dynamic Systems, Measurement and Control, Vol. 135, 031015, May 2013, 9p.

Na X and Cole DJ "Linear quadratic game and non-cooperative predictive methods for potential application to modelling driver-AFS interactive steering control", Vehicle System Dynamics, 51(2), p165-198, 2013.

Timings JP and Cole DJ "Vehicle trajectory linearisation to enable efficient optimisation of the constant speed racing line", Vehicle System Dynamics, 50(6), p883-901, 2012.

Keen SD and Cole DJ "Bias-free identification of a linear model predictive steering controller from measured driver steering behavior", IEEE Transactions on Systems, Man and Cybernetics, Part B, 42(2), p434-443, 2012.

Cole DJ "A path-following driver-vehicle model with neuromuscular dynamics, including measured and simulated responses to a step in steering angle overlay", Vehicle System Dynamics, 50(4), p573-596, 2012.

Kim N and Cole DJ "A model of driver steering control incorporating the driver's sensing of steering torque", Vehicle System Dynamics, 49(10), p1575-1596, 2011.

Keen SD and Cole DJ "Application of time-variant predictive control to modelling driver steering skill", Vehicle System Dynamics, 49(4), p527-559, 2011.

Rutherford S and Cole DJ "Neural network representation of nonlinear vehicle dynamics"  International Journal of Vehicle Design, Vol. 53, No. 4, p260-287, 2010.

Odhams AMC and Cole DJ "Application of linear preview control to modelling human steering control" Proc. IMechE, Part D: J. Automobile Engineering, 2009, 223 (D7), 835-853.

Pick AJ and Cole DJ "A mathematical model of driver steering control including neuromuscular dynamics" ASME Journal of Dynamic Systems, Measurement and Control, 130(3), 9pp, May 2008.

Pick AJ and Cole DJ "Dynamic properties of a driver’s arms holding a steering wheel" Proc. Institution of Mechanical Engineers, Vol. 221, Part D, p1475-1486, 2007.

Geng Z, Popov AA and Cole DJ "Measurement, identification and modelling of damping in pneumatic tyres" International Journal of Mechanical Sciences, 49(10), p1077-1094, 2007.

Pick AJ and Cole DJ "Measurement and analysis of muscle activation during a lane change manoeuvre" Vehicle System Dynamics, 45(9), p781-805, 2007.

Pick AJ and Cole DJ "Measurement of driver steering torque using electromyography" ASME Journal of Dynamic Systems, Measurement and Control, 128(4), p960-968, 2006.

Cole DJ, Pick AJ and Odhams AMC "Predictive and linear quadratic methods for potential application to modelling driver steering control" Vehicle System Dynamics, 44(3), p259-284, March 2006.

Yung VYB and Cole DJ "Modelling high frequency force behaviour of hydraulic automotive dampers" Vehicle System Dynamics, 44(1), p1-31, January 2006.

Yung VYB and Cole DJ "Wavelet analysis of high frequency damper behaviour" Proc. Institution of Mechanical Engineers, Vol. 219, Part D, p977-988, 2005.

Park SH, Popov AA and Cole DJ "Influence of soil deformation on off-road heavy vehicle suspension vibration", Journal of Terramechanics, 41(1), p41-68, January 2004.

Popov AA, Cole DJ, Cebon D and Winkler CB "Laboratory measurement of rolling resistance in truck tyres under dynamic vertical load", Proc Institution of Mechanical Engineers, Vol. 217, Part D, p1071-1079, 2003.

Cole DJ and Khoo YH "Prediction of vehicle stability using a back-to-back tyre test method", International Journal of Vehicle Design, Vol 26, No 5, p573-582, 2001.

Cole DJ "Fundamental issues in suspension design for heavy road vehicles" Vehicle System Dynamics, Vol.35, p319-360, 2001. (Invited Paper).

Kitching KJ, Cole DJ and Cebon D "Performance of a semi-active damper for heavy vehicles", ASME Journal of Dynamic Systems Measurement and Control, Vol. 122, p498-506, Sept 2000.

Kitching KJ, Cole DJ and Cebon D "Theoretical investigation into the use of controllable suspensions to minimize road damage", Proc Institution of Mechanical Engineers, Vol. 214, Part D, p13-31, 2000.

Kitching KJ, Cebon D and Cole DJ "An experimental investigation of preview control", Vehicle System Dynamics, 32, p459-478, 1999.

Cole DJ and Cebon D "Front-rear interaction in a pitch-plane truck model", Vehicle System Dynamics, 30, p117-141, 1998.

Cole, DJ and Cebon D "Influence of tractor-trailer interaction on assessment of road damaging performance", Proc Institution of Mechanical Engineers, Vol. 212, Part D, p1-10, 1998.

Potter TEC, Cebon D, and Cole DJ "Assessing ‘road friendliness’: a review", Proc Institution of Mechanical Engineers, Vol. 211, Part D, p455-475, 1997.

Potter TEC, Cebon D, and Cole DJ "Indirect methods for assessing road friendliness of lorry suspensions", Proc Institution of Mechanical Engineers, Vol. 211, No.4, Part D, p243-256, 1997.

Cole DJ "Analysis of the dynamic forces in the steering linkage of an off-road vehicle", International Journal of Vehicle Design, Vol. 18, No. 1, p83-99, 1997.

Potter TEC, Cebon D, Cole DJ and Collop AC "Road damage due to dynamic tyre forces measured on a public road", International Journal of Vehicle Design, Heavy Vehicle Systems, Vol. 3, Nos. 1-4, p346-362, 1996.

Potter TEC, Cebon D, Collop AC and Cole DJ "Road-damaging potential of measured dynamic tyre forces in mixed traffic", Proc Institution of Mechanical Engineers, Vol. 210, No.3, Part D, p215-225, 1996.

Cole DJ, Collop AC, Potter TEC and Cebon D "Spatial repeatability of measured dynamic tyre forces", Proc Institution of Mechanical Engineers, Vol. 210, No. 3, Part D, p185-197, 1996.

Cebon D, Besinger FH and Cole DJ "Control strategies for semi-active lorry suspensions", Proc Institution of Mechanical Engineers, Vol. 210, No. 2, Part D, p161-178, 1996.

Cole DJ and Cebon D "Truck suspension design to minimize road damage", Proc Institution of Mechanical Engineers, Vol. 210, No. 2, Part D, p95-107, 1996. (Awarded the IMechE Automobile Division Crompton Lanchester Medal and the IMechE Thomas Hawksley Gold Medal for Best Paper in 1996)

Collop AC, Cebon D and Cole DJ "Effects of spatial repeatability on long-term pavement performance", Proc Instn of Mechanical Engineers, Vol. 210, No. 2, Part C, p97-110, 1996.

Lin RC, Cebon D and Cole DJ "Optimal roll-control of a single-unit lorry", Proc Institution of Mechanical Engineers, Vol. 210, No. 1, Part D, p45-55, 1996.

Lin RC, Cebon D and Cole DJ "Active roll control of articulated vehicles", Vehicle System Dynamics, 26, p17-43, 1996.

Besinger FH, Cebon D and Cole DJ "Force control of a semi-active damper", Vehicle System Dynamics, 24, p696-723, 1995.

Green MF, Cebon D and Cole DJ "Effects of vehicle suspension design on dynamics of highway bridges", ASCE Journal of Structural Engineering, Vol 121, No. 2, p272-282, 1995.

Cole DJ and Cebon D "Modification of a heavy vehicle suspension to reduce road damage", Proc Institution of Mechanical Engineers, Vol. 209, No. 3, Part D, p183-194, 1995.

Potter TEC, Cebon D, Cole DJ and Collop AC "An investigation of road damage due to measured dynamic tyre forces", Proc Instn of Mechanical Engineers, Vol. 209, No. 1, Part D, p9-24, 1995.

Besinger FH, Cebon D and Cole DJ "Damper models for heavy vehicle ride dynamics", Vehicle System Dynamics, 24(1), p35-64, 1995.

Collop AC, Potter TEC, Cebon D and Cole DJ "An investigation of spatial repeatability using a tire force measuring mat", Transportation Research Record 1448, p1-7, TRB, Washington D.C., 1994.

Cole DJ and Cebon D "Predicting vertical dynamic tyre forces of heavy trucks", Proc. Vehicle-Road Interaction II, STP1225, ASTM, Santa Barbara, May 1992.

Cole DJ and Cebon D "Validation of a vehicle vibration simulation", Vehicle System Dynamics, 21, p197-223, 1992.

Cole DJ and Cebon D "Spatial repeatability of dynamic tyre forces generated by heavy lorries", Proc Institution of Mechanical Engineers, Vol. 206, Part D, p17-27, 1992.

Cole DJ and Cebon D "Assessing the road-damaging potential of heavy vehicles", Proc Institution of Mechanical Engineers, Vol. 205, Part D, p223-232, 1991. (Awarded IMechE Automobile Division Gresham Cooke Prize).

 

Other Journal and Conference Papers

Nash C and Cole DJ "Modelling the effect of sensory dynamics on drivers’ control of a nonlinear vehicle" AVEC 2016, Munich, Germany, September 2016. Best Paper Award.

Braghieri G and Cole DJ "Modelling human steering behaviour at the limit of adhesion using robust nonlinear model predictive control" AVEC 2016, Munich, Germany, September 2016.

Rosier C and Cole DJ "Model predictive control to represent interaction of driver and active accelerator pedal" AVEC 2016, Munich, Germany, September 2016.

Nash C and Cole DJ "Development of a novel model of driver-vehicle steering control incorporating sensory dynamics", Proc. 24th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Graz, Austria, August 2015.

Wang H and Cole DJ "Identification and validation of a driver model including neuromuscular system dynamics" Proceedings AVEC 2014, Tokyo, Japan, September 2014.

Na X and Cole DJ "Investigation of a driver's interaction with an active steering collision avoidance system", Proceedings AVEC 2014, Tokyo, Japan, September 2014.

Cathcart HA, Cole DJ, Stoffels H and Glover K "A mathematical occupant-vehicle model for investigating discomfort during transient longitudinal acceleration", Proc. 23rd IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Qingdao, China, August 2013.

Na X and Cole DJ "Investigation of a driver's interaction with an active steering collision avoidance system", Proc. 23rd IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Qingdao, China, August 2013.

Johns TA and Cole DJ "An investigation into the trade-off between steering performance and cognitive workload", Proc. 23rd IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Qingdao, China, August 2013.

Na X and Cole DJ "Modelling and identification of a driver controlling a vehicle equipped with active steering, where the driver and vehicle have different target paths", Proc. 11th International Symposium on Advanced Vehicle Control, AVEC 2012, Seoul, South Korea, September 2012.

Johns TA and Cole DJ "A model of driver compensatory steering control incorporating cognitive limitations", Proc. 11th International Symposium on Advanced Vehicle Control, AVEC 2012, Seoul, South Korea, September 2012.

Massaro M and Cole DJ "Neuromuscular-steering dynamics: motorcycle drivers vs car drivers"Proceedings of the 2012 ASME Dynamic Systems and Control Conference, DSCC2012, Oct. 17-19, 2012, Ft. Lauderdale, Florida.

Cole DJ "Influence of steering torque feedback and neuromuscular dynamics on driver and vehicle response to lateral force disturbance", Proc. 22nd IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Manchester, UK, August 2011.

Bigler RS and Cole DJ "A review of mathematical models of human sensory dynamics relevant to the steering task", Proc. 22nd IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Manchester, UK, August 2011.

Timings JP and Cole DJ "Efficient minimum manoeuvre time optimisation of an oversteering vehicle at constant forward speed", Proc. American Control Conference 2011, San Francisco, USA, 29 June to 1 July 2011.

Cole DJ "Driver steering control behaviour", Vehicle Dynamics International, Annual Showcase 2011, p36-39.

Timings JP and Cole DJ "Minimum manoeuvre time of a nonlinear vehicle at constant forward speed using convex optimisation", Proc 10th International Symposium on Advanced Vehicle Control, AVEC 2010, Loughborough, August 2010.

Odhams AMC and Cole DJ "Identification of a driver’s preview steering control behaviour using data from a driving simulator and a randomly curved road path", Proc 10th International Symposium on Advanced Vehicle Control, AVEC 2010, Loughborough, August 2010.

Kim N and Cole DJ "A multiple-model predictive control approach to modelling driver steering torque feedback" Proc. 21st IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Stockholm, Sweden, August 2009.

Cole DJ "Steering feedback: mathematical simulation of effects on driver and vehicle", ATZautotechnology, volume 8, no. 2008.

Cole DJ "Neuromuscular dynamics and steering feel", Proceedings of SteeringTech 2008, Technical University of Munich, 31 March to 1 April 2008.

Hoult W and Cole DJ "A neuromuscular model for driver simulation" Proc. 20th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Berkeley, USA, August 2007.

Keen SD and Cole DJ "Steering control using model predictive control and multiple internal models", Proc. 8th International Symposium on Advanced Vehicle Control, AVEC 2006, Taiwan, August 2006.

Pick AJ and Cole DJ "Neuromuscular dynamics in the driver-vehicle system" Proc. 19th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Milan, Italy, August 2005, Supplement to Vehicle System Dynamics, 44, 2006.

Odhams AMC and Cole DJ "Models of driver speed choice in curves", Proc 7th International Symposium on Advanced Vehicle Control, AVEC 2004, The Netherlands, August 2004.

Park SH, Popov AA and Cole DJ "Vehicle suspension optimization for heavy vehicles on deformable ground", Proc. 18th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Japan, August 2003, Supplement to Vehicle System Dynamics, 41, 2004, p3-12.

Yung VYB and Cole DJ "Mechanisms of high frequency force generation in hydraulic automotive dampers", Proc. 18th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Japan, August 2003, Supplement to Vehicle System Dynamics, 41, 2004, p617-626.

Pick AJ and Cole DJ "Neuro-muscular dynamics and the vehicle steering task", Proc. 18th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Japan, August 2003, Supplement to Vehicle System Dynamics, 41, 2004, p182-191.

Yung, VYB and Cole DJ "Prediction of high frequency forces generated by hydraulic automotive dampers" Proc. 17th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Copenhagen, Aug 2001, Supplement to Vehicle System Dynamics, 37, 2002, p441-452.

Rix JJ and Cole DJ "Models of human learning applicable to the vehicle steering task", Proc 6th International Symposium on Advanced Vehicle Control, AVEC 2002, Hiroshima, Japan, Sept 2002.

Geng Z, Popov AA and Cole DJ "Modelling of vibration damping in pneumatic tyres: appropriate interpretation of complex modes", Proc. ISMA 2002, Vol 1, Leuven, Belgium, Sept 2002, p485-494.

Cole DJ "Evaluation of design alternatives for roll control of road vehicles" Proc 5th International Symposium on Advanced Vehicle Control, AVEC 2000, Ann Arbor, Aug 2000, p561-567.

Cole DJ "Integrating the teaching of engineering science and design" in ‘Integrating Design Education’, Eds Childs PRN and Brodhurst EK, IMechE, 2000, p127-134.

Cole DJ and Collop AC "The damaging effects of heavy lorries on roads", Journal of the Nottingham Society of Engineers, Vol.7, No.2, p5-6, 1999.

Popov AA, Cole DJ, Cebon D and Winkler CB "Energy loss in truck tyres and suspensions", Proc. 16th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Pretoria, South Africa, August 1999, Supplement to Vehicle System Dynamics, Vol 33, 2000, p516-527.

Kitching KJ, Cole DJ and Cebon D "The development of a heavy vehicle semi-active damper", Proc. AVEC'96, Aachen, Germany, 1996.

Cole DJ and Cebon D "Truck tyres, suspension design and road damage", Proc. International Rubber Conference, Manchester, UK, June 17-21, 1996.

Kitching KJ, Cole DJ and Cebon D "Semi-active dampers for heavy vehicles", Proc. SAE Advanced Suspensions TOPTEC, Michigan, April 22-23, 1996.

Potter TEC, Cebon D and Cole DJ "Assessing the relative road damaging potential of HGVs", Proc. Fourth International Symposium on Heavy Vehicle Weights and Dimensions, Ann Arbor, Michigan, USA, August 1995.

Potter TEC, Cebon D and Cole DJ "Using parameter estimation to assess road damage", Proc. 14th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Ann Arbor, Michigan, USA, August 1995.

Cole DJ, Cebon D, Collop AC and Potter TEC "Multiple-sensor arrays for weigh-in-motion and suspension assessment", Proceedings of the First European Conference on Weigh-in-Motion of Road Vehicles, Zurich, Switzerland, March 1995.

Cole DJ, Cebon D and Besinger FH "Optimisation of passive and semi-active heavy vehicle suspensions", Paper 942309 in Heavy Vehicle Dynamics and Simulation, SP-1059, SAE, 1994.

Cole DJ "Design, analysis and testing of a slow-active suspension", Proc. IMechE Conference on Vehicle Ride and Handling, p271-283, Birmingham, November 1993.

Lin RC, Cebon D and Cole DJ "An investigation of active roll control for heavy road vehicles", Proc. 13th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Chengdu, China, August 1993.

Cole DJ, Collop AC, Potter TEC and Cebon D "Use of a force measuring mat to compare the road-damaging potential of heavy vehicles", Proc. Third International Symposium on Heavy Vehicle Weights and Dimensions, Cambridge, UK, June 1992.

Cole DJ and Cebon D "Performance and application of a capacitative strip tyre force sensor", Proc 6th Conference on Road Traffic Monitoring and Control, IEE, London, April 1992.

Besinger FH, Cebon D, Cole DJ "An experimental investigation into the use of semi-active dampers on heavy lorries", Proc 12th IAVSD Symposium on the Dynamics of Vehicles on Roads and on Tracks, Lyon, August 1991.

Cole DJ and Cebon D "Simulation and measurement of dynamic tyre forces", Proc Second International Symposium on Heavy Vehicle Weights and Dimensions, Kelowna, Canada, 1989.

Cole DJ and Cebon D "A capacitative strip sensor for measuring dynamic axle loads", Proc Second International Conference on Road Traffic Monitoring, IEE, London, 1989.

Cole DJ and Cebon D "Simulation and measurement of vehicle response to road roughness", Proc Inst Acoustics, Vol 10, Part 2 (1988) p477-484.

 

Other Publications

Timings JP and Cole DJ "Robust lap-time simulation" CUED Technical Report, CUED/C-MECH/TR.102, April 2013.

Na X and Cole DJ "Modelling driver-AFS interactive steering control using the principle of open-loop Stackelberg equilibrium" CUED Technical Report, CUED/C-MECH/TR.101, March 2013.

Cole DJ "Driver perception of on-centre steering quality" Technical Report for Honda R&D (UK) Ltd. March 2007.

Pick AJ and Cole DJ "Neuro-muscular dynamics and the vehicle steering task" CUED Technical Report, CUED/C-MECH/TR.87, October 2003.

Popov AA, Cole DJ and Geng Z "Measurement, identification and modelling of damping in pneumatic tyres" Final Report to EPSRC, Research Grant GR/N34697, Nottingham University, June 2002.

Popov AA, Cole DJ and Cebon D "Energy loss in heavy vehicle tyres and suspensions" Final Report to EPSRC, Research Grant GR/34549, Cambridge University, March 2000.

Cole DJ "Investigation into the failure of a gas turbine rig", Nottingham University Consultants Ltd, Report for TecQuipment Ltd., August 1999.

Cole DJ "Book Review: System Dynamics by EO Doebelin ", Proc Institution of Mechanical Engineers, Vol. 212, Part C, p532-533, 1998.

Cole DJ "Prediction of vehicle response to settlement troughs", Technical Report for Scott Wilson Pavement Engineering Ltd., November 1998.

Collop AC, Cebon D and Cole DJ "Modelling the effect of spatial repeatability on long-term pavement performance", presented at Vehicle-Infrastructure Interaction IV, San Diego, June 2-7, 1996.

Cole DJ "Leaf spring kinematics", Technical Report for Tinsley Bridge Ltd., May 1996.

Cole DJ and Cebon D "A preliminary investigation of tractor-trailer interaction in articulated vehicles", Technical Report CUED/C-MECH/TR68, Cambridge University Engineering Department, July 1995.

Cole DJ and Cebon D "Truck suspension design to minimize road damage", Technical Report CUED/C-MECH/TR64, Cambridge University Engineering Department, June 1994.

Potter TEC, Collop AC, Cole DJ and Cebon D "A34 mat tests: results and analysis", Technical Report CUED/C-MECH/TR61, Cambridge University Engineering Department, May 1994.

Dorling RJ, Cebon D and Cole DJ "Analysis of the PAWS lorry suspension", Technical Report CUED/C-MECH/TR58, Cambridge University Engineering Department, May 1994.

Lin RC, Cebon D and Cole DJ "Validation of an articulated vehicle yaw/roll model", Technical Report CUED/C-MECH/TR53, Cambridge University Engineering Department, September 1993.

Cole DJ and Cebon D "Heavy vehicle suspension modifications to reduce road damage", Technical Report CUED/C-MECH/TR50, Cambridge University Engineering Department, March 1993.

Cole DJ and Cebon D "Validation of an articulated vehicle simulation", Transport Research Laboratory, Contractor Report 331, 1993.

Cole DJ "Investigation into the steering linkage loads of the Foden DROPS vehicle", Technical Report for Foden Trucks (UK) Ltd., October 1992.

Cole DJ and Cebon D "Frictionless support for the end of a leaf-spring", UK Patent application GB9225812.8, 1992.

Cole DJ "Measurement and analysis of dynamic tyre forces generated by lorries", PhD Dissertation, University of Cambridge, 1990.

Cebon D, Cole DJ, Hardy MSA and Newland DE "Capacitative weight sensor", European Patent 89303112.0, USA Patent 330427, 1988.

Comments