Traffic and Safety

Active Projects
TitleYearReport #Researcher
Comparative Analysis of Grade-Separated Pedestrian Infrastructure and At-grade Treatments2024N/ALevin
User-Centered Smart Traffic Sign Implementation Development Study2024N/ARajamani
Speed Impacts from Roundabouts and Other Traffic Control Devices2024N/ASavolainen
Effect of Centerlines on Prevailing Traffic Speeds on Low-Speed, Two-Lane, Two-Way Roads in Urban Contexts2024N/AGates
Roundabouts, J-Turns, etc. — Understanding their Economic Impacts2024N/AGodavarthy
Rural Intersection Enhancement and Driver Behavior Study2024N/AMorris
User Understanding of Pedestrian Hybrid Beacon Operation2024N/ADey
Roadside Feature Placement and Pedestrian Safety on Low and Intermediate Speed Roads2024N/ADey
Alternative Deicer Performance Characterization: Know Before the Snow2024N/ADruschel
Pedestrian Safety Around Roundabouts2023N/AArvidson
Implementing Inductive Loop Signature Technology for Vehicle Classification Counts2023N/AParikh
Enhanced Safety of Highway Construction Site using Low Cost, Wearable Sensor Network2023N/AJang
Improving Safety for People Walking and Biking at Roundabouts2023N/ASavolainen
Behavioral Investigation of Temporary and Permanent Pedestrian Infrastructure2023N/ACraig
Pedestrian Safety and Accessibility Best Practices for Channelized Right Turn Lanes2023N/AGates
Impacts on Design Standards Related to Speed2023N/ABrunkhorst
Safety: Developing Tools to Address Behavioral Factors2023N/AKuehl
Identification and Assessment of Preventative Methods to Mitigate Cognitive and Physical Declines Which Influence Driving Performance of Older Drivers2022N/AMorris
Development of a System to Report School Bus Stop-Arm Violations2022N/ADavis
Development and Demonstration of a Novel Red Light Running Warning System Using Connected v2i Technology2022N/ALevin
Understanding Risks and Opportunities for Ramp Metering Control in a Mixed-Autonomy Future2022N/AStern
Assessment of Travel-Time Reliability and Operational Resilience of Metro Freeway Corridors2022N/AKwon
Pavement Marking/Colored Pavement Friction Differential and Product Durability2021N/AMarasteanu
Tool to Estimate the Safety Impact of Vehicle Levels of Automation on Minnesota Roads2021N/ADavis
Multi-Method Investigation of Pedestrian Safety Impacts of Right-Turn Lanes2021N/ACraig
Taconite as a Lower Cost Alternative High Friction Surface Treatment to Calcined Bauxite for Low-Volume Roads in Minnesota2020N/AMarasteanu
Pavement Marking Patterns and Widths – Human Factor Study2019N/APike
Completed Projects
TitleYearReport #Researcher
A Mobile App to Report Driver Intrusions Into Work Zones20242023-04
Davis
Evaluation of Traffic Safety for Heavy Commercial Vehicles at Roundabouts in Minnesota20242024-14
Wagner
Assessing Pavement Markings for Automated Vehicle Readiness20242024-16
Pike
Performance Evaluation of Different Detection Technologies for Signalized Intersections in Minnesota20242024-10
Chiang
Identifying Deer-Vehicle Collision Concentrations in Minnesota20242023-38
Stern
Complete Streets Speed Impacts20242024-13
Savolainen
Towards Implementation of Max-Pressure Control on Minnesota Roads: Phase 220242024-26
Stern
Evaluation of Static and Dynamic No Right Turn on Red Signs at Traffic Signals20242024-17
Day
Mini-Roundabout FAQs20242024RIC03
Marti
TRS: Effects of Legalization of Marijuana on Traffic Safety2024TRS2404
Kline
TRS: Administrative Rules and Structures Of Speed Safety Camera (SSC) Systems2024TRS2402
Moore-Ritchie
Pavement Marking Retroreflectivity20242024RIC05
Marti
TRS: Public Education on Automated Driver Assist Systems2024TRS2405
Kline
Traffic Safety Evaluation of Lane Constrictor Intersections in Minnesota20242024-03
Moreland
Traffic Safety Evaluation of Signalized Intersections with Retroreflective Backplates in Minnesota20242024-04
Moreland
Traffic Safety Evaluation at J-turns in Minnesota20242024-05
Moreland
Traffic Safety Evaluation of Pedestrians and Bicyclists at Rectangular Rapid Flashing Beacons and Pedestrian Hybrid Beacons in Minnesota20242024-11
Saari
Development of a Smart Phone App to Warn the Driver of Unintentional Lane Departure Using GPS Technology20242024-25
Hayee
Criteria and Guidelines for Three-Lane Road Design and Operation20232023-09
Davis
Speed Limit Change (55 mph to 60 mph) Safety Re-Evaluation20232023-41
Saleem
Establishing a Repeatable Method for Presenting Non-Traditional Traffic Treatments to Maximize Stakeholder Support20232022-31
Morris
Implementation of Lane Boundary Guidance System for Snowplow Operations20232023-27
Donath
Towards Implementation of Max-Pressure Signal Timing on Minnesota Roads20232022-24
Levin
Transverse Rumble Strips at Rural Intersections20232023-17
Hallmark
Driver Comprehension of Flashing Yellow Arrows20232023-42
Davis
Enhancing Pedestrian Experiences at Roundabouts20232023-01
Godavarthy
Impact of Speed Limit Changes on Urban Streets20232023-22
Davis
Cost/Benefit Analysis of Fuel Efficient Speed Control Using Signal Phasing and Timing (SPaT) Data: Evaluation for Future Connected Corridor Deployment20232023-06
Levin
Best Practice Guidelines for Intelligent (Active) Warning Devices20232023RIC02
Kuehl
Guidelines for Determining Speed Limits on Municipal Roadways20232023RIC07
Arvidson
User-Centered Smart Traffic Sign Development Study20232023-26
Morris
Influence of Autonomous and Partially Autonomous Vehicles on Minnesota Roads20232023-23
Rajamani
Designing and Implementing Maintainable Pedestrian Safety Countermeasures20232023-18
Veneziano
Remote Sensing in Unsheltered Encampments20232022-12
Marti
TRS: Speed Safety Cameras2023TRS2303
Kienitz
TRS: Setting School Zone Speed Limits2023TRS2301
Kienitz
Traffic Safety Evaluation of Pedestrians and Bicyclists at Roundabouts in Minnesota20232023-36
Wagner
Sinusoidal Rumble Strips Safety Evaluation20232023-40
Storm
Evaluation and Refinement of Minnesota Queue Warning Systems20232023-05
Hourdos
Evaluation of Metro Freeway System for Reliability and Resilience20222022-01
2022-01A
Kwon
Can Automated Vehicles "See" in Minnesota? Ambient Particle Effects on LiDAR Systems20222022-03
Northrop
Refining Inductive Loop Signature Technology for Statewide Vehicle Classification Counts20222021-27
Liao
Strategies for Effective Roundabout Speed Reduction20222022RIC03Q
2022RIC03
Arvidson
Promoting the Adoption of Snow Fences through Landowner Engagement20222022-14
Current
The Tipping Point: What COVID Travel Reductions Tells Us About Effective Congestion Relief20222022-09
Morris
High Tension Cable Median Barrier Safety Effectiveness Evaluation20222022-34
Storm
Assessment of Pedestrian Safety and Driver Behavior Near Automated Vehicles2022N/AMorris
Autonomous Vehicles: What Should Local Agencies Expect?20222022RIC02
Marti
TRS: Research on Traffic Sign Retroreflective Sheeting Performance: A Synthesis of Practice2021TRS2101
Hawkins
Generating Traffic Information from Connected Vehicle V2V Basic Safety Messages20212021-08
Levin
Development and Demonstration of an In-Vehicle Lane Departure Warning System Using Standard GPS Technology20212021-17
Hayee
Effectiveness of Teenage Support System (TDSS) on Reducing Traffic Violation Behaviors for Teenage Drivers at the Early Time of Licensure20212021-01
Morris
Improving Winter Road Weather Alerts on Highway Dynamic Message Signs20212021-24
Traffic Safety Evaluation of Reduced Conflict Intersections in Minnesota20212021-22
Moreland
COVID-19 Impacts on Speed and Safety for Minnesota Roads and Work Zones20212021-21
Hallmark
Evaluation of Road Weather Messages on DMS Based on Roadside Pavement Sensors20212021-25
Knickerbocker
Assessing the Impact of Pedestrian-Activated Crossing System20202020-13
Hourdos
Improve Traffic Volume Estimates From MnDOT's Regional Traffic Management Center20202020-02
Kwon
Pavement Markings - Wet Retroreflectivity Standards20202020-09
Pike
Evaluation of the Effectiveness of Stop Lines in Increasing the Safety of Stop-Controlled Intersections20202020-17
Hourdos
Deploy and Test a Smartphone-Based Accessible Traffic Information System for the Visually Impaired20202020-28
Liao
Speed Limit Change (55 mph to 60 mph) Safety Evaluation20202020-06
Saleem
TRS: Notifying the Public of Local Road Closures via Common Smartphone Map Apps2020TRS2001
Linsenmayer
Phase 3 MnDOT Slope Vulnerability Assessments20202020-21
Holmstadt
Evaluation of StreetLight Data's Traffic Count Estimates from Mobile Device Data20202020-30
Turner
Rectangular Rumble Strip Safety Evaluation20202020-07
Storm
Integrate RTMC Vehicle Classification into the Current Detector Volume Data20202020-31
Kwon
Speed Notification System Warns Drivers Approaching Urban Work Zones20192019-21
Hourdos
Rest Area Electronic Customer Feedback System20192019-15A
Williams
Minnesota Autonomous Bus Pilot20192019-04
Sabeti
How Locals Need To Prepare for the Future of V2V/V2I Connected Vehicles20192019-35
Hourdos
Preparing Roads for Connected and Autonomous Vehicles20192019-18
Hallmark
Personal Warning Sensor for Road Construction Workers20192019-08
Ullman
Cloud-Based Dynamic Warning System20192019-19
Wentz
Evaluation of a Central Traffic Signal System and Best Practices for Implementation20192019-14
2019-14A
Hourdos
Design Standards for Unobstructed Sight Lines at Left-Turn Lanes20192019-32
Noyce
TRS: Road Weather and Creative Safety Messaging On Dynamic Message Signs2019TRS1902
Casey
Examining Optimal Sight Distances at Rural Intersections20192019-34
Morris
Evaluation of Intersection Conflict Warning Systems in Minnesota20182017-38
2017-38S
Hallmark
Development of Travel Time Reliability Measurement System20182018-28
Kwon
A Tool for Designing MnPASS Access Spacing20182018-11
Hourdos
Rural Intersection Conflict Warning System Evaluation and Design Investigation2018CTS 18-10
Morris
TRS: Continuous Green Tee (CGT) Alternative Intersection2018TRS1809
Casey
In-Vehicle Dynamic Curve-Speed Warnings at High-Risk Rural Curves20182018-12
Davis
Work Zone Intrusion Report Interface Design20182018-09
Morris
Investigating the Necessity and Prioritizing Pavement Markings on Low Volume Roads 20182018-21
Veneziano
TRS: High Friction Surface Treatments2018TRS1802
TRS1802S
Casey
Development and Demonstration of a Cost Effective In-Vehicle Lane Departure and Advanced Curve Speed Warning System20182018-34
Hayee
Flagger Operations: Investigating Their Effectiveness in Capturing Driver Attention20172017-07
Harder
Addressing Citizen Requests for Traffic Safety Concerns20172017RIC05
Kuehl
Evaluation of Safety and Mobility of Two-Lane Roundabouts20172017-30
Hourdos
Minnesota Local Agency Pavement Marking: Mining Existing Data20172017-43
Smadi
Safety Impacts of the I-35W Improvements Done Under Minnesota's Urban Partnership Agreement (UPA) Project20172017-22
Davis
Framework and Guidelines for the Development of a Twin Cities Mesoscopic DTA Model20172017-10
Hourdos
Development of a Queue Warning System Utilizing ATM Infrastructure System Development and Field Testing20172017-20
Hourdos
Estimation of Crossing Conflict at Signalized Intersection Using High-Resolution Traffic Data20172017-08
Davis
In-Vehicle Work Zone Messages20172017-19
Morris
Strategies for Effective Roundabout Approach Speed Reduction20172017-14
Chrysler
Using Mobile Device Samples to Estimate Traffic Volumes20172017-49
Turner
TRS: Use of Positive Protection in Work Zones2017TRS1703
Casey
TRS: Sign Life-Cycle Policies and Practices2017TRS1707
Casey
Real-Time Integration of Arrow Board Messages Into Traveler Information Systems2017N/APreisen
Development of a Moving Automatic Flagger Assistance Device (AFAD) for Moving Work Zone Operations20172017-09
Terhaar
Sensing for HOV/HOT Lanes Enforcement20172017-05
Papanikolopoulos
Rumble Stripe: Evaluation of Retroreflectivity and Installation Practices20162016-13
Hawkins
Thinking of Building a Multi-Lane Roundabout?20162016RIC12
Kuehl
Implementation of LED Roadway Lighting20162016-17
Taillon
Evaluation of the Effectiveness of ATM Messages Used During Incidents20162016-04
Hourdos
Development of a Guideline for Work Zone Diversion Rate and Capacity Reduction20162016-12
Kwon
Optimizing Automatic Traffic Recorders Network in Minnesota20162016-05
Gupta
Weigh-Pad-Based Portable Weigh-in-Motion System User Manual20162016-07
Kwon
Implementation and Evaluation of a Low-Cost Weigh-In-Motion System20162016-10
Kwon
In-Vehicle Sign Systems May Improve Safety When Supplementing Road Signs20162016-18
Morris
Visual Warning System for Worker Safety on Roadside Work-zones20162016-27
Hayee
Examining the Impact of ASE (Automated Speed Enforcement) in Work Zones on Driver Attention20162016-06
Morris
Sinusoidal Rumble Strip Design Optimization Study20162016-23
Terhaar
Innovative Technology Workshop on 3D LIDAR20162016-19
Davis
Investigate the Effectiveness of Using Bluetooth Low Energy (BLE) Technology to Trigger In-Vehicle Messages at Work Zones20162016-38
Liao
Railroad Grade Crossing Safety Project Selection20162016-25
Preston
Robotic Roadway Message and Symbol Painter Implemenation20162016-31
Rosandich
Flashing Yellow Arrow Tool for Time-of-Day Use20162016RIC13
Marti
Pavement Markings: Epoxy Paints and Thick Coats Perform Best on Challenging Asphalt Surfaces20162016-08
Hawkins
Improved Active Traffic Management Strategies Make Travel Smoother on Twin Cities Freeways20152015-26
Kwon
Teen Driver Support System (TDSS) Field Operational Test2015CTS 16-04
Donath
Field Implementation, Testing, and Refinement of Density Based Coordinated Ramp Control Strategy20152015-37
Hourdos
Measuring Minnesota's Traffic Safety Culture20152015-13
Ward
Development of Guidelines for Permitted Left-Turn Phasing Using Flashing Yellow Arrows20152015-27
Davis
Lighting Levels for Isolated Intersections: Leading to Safety Improvements20152015-05
Edwards
MnPASS Modeling and Pricing Algorithm Enhancement20152015-22
Hourdos
Develop Annual Arterial Congestion Report20152015-32
Liu
Vehicle-Based Lane Departure Warning Systems Shown Effective in Simulator Testing20152015-35
Ton
Portable Weigh-in-Motion System Evaluation20152015-03
Minge
Development of a Sensor Platform for Roadway Mapping: Part B - Mapping the Road Fog Lines20152015-11
Donath
Rumble Strip Noise Evaluation20152015-07
Terhaar
Ineffective Specialty Signs Video for Local Agencies2015N/ANemeth
Safety Rest Area Advance Signing Enhancements - Phase 2 Design2015N/ANord
I-94 and I-35 Alternate Route Signing Final Report: District 3 St. Cloud, District 6 Rochester20152015-43
Potter
TRS: Monitoring Motor Vehicle Driver Fatigue2015TRS1501
TRS: Work Zone Intrusion Reporting: A Survey of State Practices2015TRS1506
Estimating the Crash Reduction and Vehicle Dynamics Effects of Flashing LED Stop Signs20142014-02
Davis
Expanding and Streamlining of RTMC Freeway Network Performance Reporting Methodologies and Tools20142014-05
Hourdos
Evaluation of the Effect of MnPASS Lane Design on Mobility and Safety20142014-23
Hourdos
Effect of Signing and Lane Markings on the Safety of a Two-Lane Roundabout20142014-04
Hourdos
Advanced LED Warning System for Rural Intersections: Phase 2 (ALERT-2)20142014-10
Kwon
Investigation of the Impact of the I-94 ATM System on the Safety of the I-94 Commons High Crash Area20142014-19
Hourdos
TRS: New Approaches for Roundabout Lighting to Enhance Pedestrian Safety2014TRS1413
Automatic Generation of Traffic Timing Plan20142014-38
Liu
Evaluation of Guide Sign Fonts20142014-11
Kotwal
Traffic Sign Life Expectancy20142014-20
Preston
Evaluation Incorporating Highway Capacity Manual Unsignalized Pedestrian Crossing Analysis Methodology20142014-21
2014-21G
Nemeth
Minnesota Best Practices for Traffic Sign Maintenance/Management Handbook - Updated20142014RIC20
Preston
Implementation of Automatic Flagger Assistance Devices (AFADs) for Minnesota Department of Transportation Flagger Operations20142014-44
Terhaar
Development of a Navigation System Using Smartphone and Bluetooth Technologies to Help the Visually Impaired Navigate Work Zones Safely20142014-12
Liao
Research Implementation of the SMART-SIGNAL system on Trunk Highway (TH) 1320132013-06
Liu
46th Street Pilot Street Lighting Project20132013-04
Luckow
TRS: Mobile Traffic Signals in Lieu of Flaggers for Moving Operations2013TRS1303
Toolbox of Countermeasures for Rural Two-Lane Curves20132013-25
Hallmark
Improving Traffic Signal Operations for Integrated Corridor Management20132013-17
Liu
Mobility Performance Measures for Arterial Streets20132013-14
Turner
Vehicle Speed Impacts of Occasional Hazard (Playground) Warning Signs20122012-06
Hourdos
Implementation, Training, and Outreach for MnDOT Pavement Marking Tool - Phase II20122012-31
Smadi
Development of Freeway Operational Strategies with IRIS-in-Loop Simulation20122012-04
Kwon
Improving Technology to Alert Drivers to Work Zones20122012-26
Hourdos
2012 Changeable Message Sign (CMS) Manual of Practices20122012-32
Raduenz
TRS: Traffic Forecasting on Trunk Highways in Nonmetropolitan Areas: A Survey of State Practice2012TRS1206
Linsenmayer
TRS: Power Sources for Automatic Traffic Recorders2012TRS1208
Nemeth
Safety Rest Area Advance Signing Enhancements2012N/AParker
TRS: Methods for Setting Posted Speed Limits2012TRS1204
Linsenmayer
TRS: Collecting and Managing Traffic Data on Local Roads2012TRS1207
Linsenmayer
Investigating the Effectiveness of Intelligent Lane Control Signals on Driver Behavior20122012-22
Harder
Advanced LED Warning Signs for Rural Intersections Powered by Renewable Energy20112011-04
Kwon
Usability Evaluation of a Smart Phone-Based Novice Teen Driver Support System (TDSS)20112011-13
Donath
High Occupancy Vehicle (HOV) / Managed Use Lane (MUL)2011N/A
Minnesota Department of Transportation Traffic Safety Analysis Software State of the Art20112011-10
Souleyrette
Minnesota's Best Practices and Policies for Safety Strategies on Highways and Local Roads20112011-21
Preston
Improving Pavement Marking Performance on Challenging Pavement Surface20112011-24
Hawkins
Using Dual-Phase Message Signs to Display Airline Information20102010-02
Harder
State of Practice for Minnesota Local Agency Pavement Marking Management20102010-05
Smadi
Evaluating Workforce Perceptions to Identify and Mitigate the Causes of Musculoskeletal Disorders20102010-01
Loushine
Putting Research into Practice: Guidelines for Designing Turn Lanes20102010-25
Preston
Sign Retroreflectivity - A Minnesota Toolkit20102010RIC02
Marti
TRS: Effects of 24-Hour Headlight Use on Traffic Safety2010TRS1009
BMP's for Promoting Roadway Safety Maintenance RIC 2009-2011 Task 320102010RIC03
Minnesota's Best Practices for Traffic Sign Maintenance / Management Handbook20102010RIC10
TRS: Effectiveness of Traffic Signs on Local Roads2010TRS1002
Linsenmayer
Integrating Platoon-Priority Signal Control with Advance Warning Flashers20092009-23
Liu
In-Vehicle Technologies and Infrastructure Modifications to Prevent Crashes Along Curves and Shoulders20092009-39
Shankwitz
Predicting the Cost-Effectiveness of highway Median Barriers20082008-17
Davis
Turn Lane Lengths for Various Speed Roads and Evaluation of Determining Criteria20082008-14
Schnell
Traffic Volume Thresholds for Requiring Right Turn Lanes and Treatments on Two-Lane Roads20082008-25
Varma
Determining the Impacts of Roundabouts on Roadway Networks20082008-24
Hallmark
Effects of Center-Line Rumble Strips on Non-Conventional Vehicles20082008-07
Miller
TRS: Traffic Calming for High-Speed Rural Roadways2008TRS0801
Gorrill
Developing and Implementing Enhanced Pavement Marking Mangement Tools: Phase I - Mapping Tool20082008-37
Hawkins
Review of New Hampshire's Rural Intersection Crashes: Application of Methodology for Identifying Intersections for Intersection Decision Support (IDS)20082008-30
Donath
Review of Nevada's Rural Intersection Crashes: Application of Methodology for Identifying Intersections for Intersection Decision Support (IDS)20082008-31
Donath
Review of California's Rural Intersection Crashes: Application of Methodology for Identifying Intersections for Intersection Decision Support (IDS)20082008-52
Preston
Overview of Rural Intersection Crashes at Candidate Intersections for the Intersection Decision Support (IDS) System20082008-53
Shankwitz
Generational Perspective on Teen and Older Drivers on Traffic Safety in Rural and Urban Communities20082008-36
Manser
Measuring the Safety Effects of Signal Installation and Left-Turn Phasing Schemes20072007-03
Davis
Driving Performance During 511 Information Retrieval: Cell Phone 220072007-48
Ward
Freeway Network Traffic Detection and Monitoring Incidents20072007-40
Papanikolopoulos
Rural and Urban Safety Cultures: Human-Centered Interventions Toward Zero Deaths in Rural Minnesota20072007-41
Ward
North/West Passage ITS Integrated Corridor Strategic Plan20072007-20
Dierling
Evaluating the Effectiveness of the Minnesota Speed Management Project20072007-21
2007-21A
Harder
Review of Georgia's Rural Intersection Crashes: Application of Methodology for Identifying Intersections for Intersection Decision Support (IDS)20072007-28
Storm
Intersection Decision Support Surveillance System: Design, Performance and Initial Driver Behavior Quantization20072007-30
Cheng
A Simulator-based Evaluation of Smart Infrastructure Concepts for Intersection Decision Support at Rural Thru-STOP Intersections20072007-31
Ward
Benefit-Cost Analysis for Intersection Decision Support20072007-32
Levinson
Intersection Decision Support: An Overview20072007-33
Shankwitz
Review of Iowa's Rural Intersection Crashes: Application of Methodology for Identifying Intersections for Intersection Decision Support (IDS)20072007-27
Shankwitz
Evaluation of Minnesota's Operation NightCAP20072007-29
Creaser
Improving Road Safety with Two-Way Left-Turn Lanes20062006-25
Noyce
North/West Passage Transportation Pooled Fund Program - Phase I20062006-08
Taavola
Review of Michigan's Rural Intersection Crashes: Application of Methodology for Identifying Intersections for Intersection Decision Support (IDS)20062006-33
Preston
Review of Wisconsin's Rural Intersection Crashes: Application of Methodology for Indentifying Intersections for Intersection Decision Support (IDS)20062006-10
Preston
Review of North Carolina's Rural Intersection Crashes: Application of Methodology for Identifying Intersections for Intersection Decision Support20062006-32
Donath
Statistical Modeling for Intersection Decision Support20062006-03
Davis
Review of Minnesota's Rural Intersection Crashes: Methodology for Identifying Intersections for Intersection Decision Support (IDS)20042004-31
Storm
System Performance and Human Factors Evaluation of the Driver Assistive System and Intelligent Vehicle Initiative Specialty Vehicle20042004-07
2004-08
2004-09
2004-12
Donath
Synthesis On The Effectiveness of Rumble Strips20022002-07
Marti
Radar Based Longitudinal Virtual Bumper Collision Avoidance System Implemented on a Truck20002000-07
Donath
Differential GPS Based Control of a Heavy Vehicle20002000-05
Donath