Integrated vehicle control using steering and brakes

The manuscript was received on 11 March 2009 and was accepted after revision for publication on 10 November 2009. DOI: 10.1243/09544070JAUTO1204Abstract: This paper presents a method for trajectory generation using convex optimization to find a feasible, obstacle-free path for a road vehicle. Consideration of vehicle rotation is shown to be necessary if the trajectory is to avoid obstacles specified in a fixed Earth axis system. The paper establishes that, despite the presence of significant non-linearities, it is possible to articulate the obstacle avoidance problem in a tractable convex form using multiple optimization passes. Finally, it is shown by simulation that an optimal trajectory that accounts for the vehicle's changing velocity throughout the manoeuvre is superior to a previous analytical method that assumes constant speed.

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“…Thus control engineers often work with linearizations and other simplifications (e.g. references [15] to [17]). …”

Section: Equations Of Motion and Obstacle Specificationmentioning

confidence: 99%

Trajectory generation for road vehicle obstacle avoidance using convex optimization

Bevan

Gollee

O’Reilly

2010

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Burgio & Zegelaar (2006) identify some of the difficulties related to integration of brake and steering controls. The problem is multi-input, multi-output (MIMO), intrinsically non-linear due to inherent tyre characteristics and suffers from a high degree of plant uncertainty due to variation in parameters.…”

Section: Introductionmentioning

confidence: 99%

Automatic lateral emergency collision avoidance for a passenger car

Bevan

Gollee

O’Reilly

2007

International Journal of Control

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Longitudinal collision avoidance controllers are of limited benefit for preventing head-on collisions between road vehicles travelling at high speed or for preventing rear end collisions when there is insufficient separation between the vehicles. In these circumstances, aggressive lateral vehicle manoeuvres are more appropriate. This paper develops a controller architecture to perform an emergency lateral collision avoidance manoeuvre. Simulation results indicate significant improvements in collision avoidance at vehicle speeds up to 100 [km/hr] using integrated automatic steering and braking.

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“…In [1], a control integrated AFS and ABS is designed by fuzzy logic theory. In [2], the lateral dynamic control is regarded as a MIMO control problem. And the integrated control is designed by feedback linearization.…”

Section: Introductionmentioning

confidence: 99%

Study on Integrated Control of AFS and DYC for Active Obstacle Avoidance

Wang¹,

Guo-biao²,

Wei³

et al. 2018

dtcse

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Abstract. In order to realize the obstacle avoidance and improve the vehicle's yaw stability, a chassis integrated controller which cooperated Active Front Steering (AFS) and Direct Yaw Moment Control (DYC) is designed based on model predictive control (MPC) theory. It takes the corrective steering angle and desired yaw moment as inputs, and composes the driver-vehicle-road closed-loop system with the driver model. Performance of the controller is demonstrated as the continuous obstacle avoidance case. The simulation results show that the integrated controller can make the vehicle avoid the obstacle on both sides of the road and improve the yaw stability of the vehicle.

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Integrated vehicle control using steering and brakes

Cited by 68 publications

References 1 publication

Trajectory generation for road vehicle obstacle avoidance using convex optimization

Trajectory generation for road vehicle obstacle avoidance using convex optimization

Automatic lateral emergency collision avoidance for a passenger car

Study on Integrated Control of AFS and DYC for Active Obstacle Avoidance

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