Proceedings of the 7th international symposium on advanced vehicle control 2004, AVEC '04 : August 23-27, 2004, Arnhem, The Netherlands, 309-314 STARTPAGE=309;ENDPAGE=314;TITLE=Proceedings of the 7th international symposium on advanced vehicle control 2004, AVEC '04 : August 23-27, 2004, Arnhem, The Netherlands