Nonlinear trajectory following control for automatic steering of a collision avoiding vehicle

Schorn, Matthias; Stählin, Ulrich; Khanafer, Ali; Isermann, Rolf

doi:10.1109/acc.2006.1657656

Cited by 35 publications

(15 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…of (19) involves the front and rear tire lateral and longitudinal forces, and we may use (5), (8), and (18) to express the R.H.S. of (19) in terms of ξ, s rx , and µ f to arrive at the following equation:…”

Section: A Constraints On Pseudo-flat Output Trajectoriesmentioning

confidence: 99%

Optimal motion planning with the half-car dynamical model for autonomous high-speed driving

Jeon

Cowlagi

Peters

et al. 2013

2013 American Control Conference

View full text Add to dashboard Cite

Abstract-We investigate the application of the RRT * optimal motion planning algorithm to autonomous high-speed driving. Specifically, we discuss the implementation of RRT * for the halfcar dynamical model. To enable fast solutions of the associated local steering problem, we observe that the motion of a special point (viz., the front center of oscillation) can be modeled as a double integrator augmented with fictitious inputs. We first map the constraints on tire friction forces to constraints on these augmented inputs, which provides instantaneous, statedependent bounds on the curvature of geometric paths feasibly traversable by the front center of oscillation. Next, we map the vehicle's actual inputs to the augmented inputs. The local steering problem for the half-car dynamical model can then be transformed to a simpler steering problem for the front center of oscillation, which we solve efficiently by first constructing a curvature-bounded geometric path and then imposing a suitable speed profile on this geometric path. Finally, we demonstrate the efficacy of the proposed motion planner via numerical simulation results.

show abstract

Section: A Constraints On Pseudo-flat Output Trajectoriesmentioning

confidence: 99%

Optimal motion planning with the half-car dynamical model for autonomous high-speed driving

Jeon

Cowlagi

Peters

et al. 2013

2013 American Control Conference

View full text Add to dashboard Cite

show abstract

“…In [2], [3] and [4] a sigmoidal function is used for the collision avoidance path and an active front steering system for lateral vehicle guidance. In [5] a trapezoidal acceleration profile is used to obtain an evasive path.…”

Section: Introductionmentioning

confidence: 99%

A vehicle lateral control approach for collision avoidance by emergency steering maneuvers

Keller

Hass

Seewald

et al. 2015

6th International Munich Chassis Symposium 2015

View full text Add to dashboard Cite

“…A collision avoidance system is developed and evaluated by Schorn et al (2006). A passenger car is equipped with active front steering.…”

Section: On Electrohydraulic Pressure Control For Power Steering Applmentioning

confidence: 99%

“…Ackermann, Bünte, and D. Odenthal (1999)) and the system can intervene to avoid a collision with an oncoming vehicle or keep the car on the road. Typical functions are Emergency Lane Assist (Eidehall et al (2007)), collision avoidance systems (Schorn et al (2006)), roll-over prevention and vehicle stabilisation (Koehn and Eckrich (2004)). The future will also see road vehicles evolve into autonomous vehicles, with several safety, environmental and financial benefits.…”

Section: Introductionmentioning

confidence: 99%

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Dell’Amico¹

2016

View full text Add to dashboard Cite

This thesis deals with the Electrohydraulic Power Steering system for road vehicles, using electronic pressure control valves. With an ever increasing demand for safer vehicles and fewer traffic accidents, steering-related active safety functions are becoming more common in modern vehicles. These are functions that aim at assisting the driver in more or less critical situations and could be anything from applying a guiding steering torque to taking over the steering completely. Future road vehicles will also evolve towards autonomous vehicles, with several safety, environmental and financial benefits. A key component in realising such solutions is active steering. This refers to the possibility to control the steering angle or steering torque with an electronic signal.The power steering system was initially developed to ease the driver's workload by assisting in turning the wheels. This is traditionally done through an open-centre hydraulic system and heavy trucks must still rely on fluid power, due to the heavy work forces. The system provides a robust solution but suffers from poor energy efficiency and lacks the possibility of active control. Since the purpose of the original system is to control the assistive pressure, one way would be to use proportional pressure control valves. Since these are electronically controlled, active steering is possible and with closed-centre, energy efficiency can be significantly improved on.In this work, such a system is analysed in detail with the purpose of investigating the possible use of the system for Boost curve control, the most common control strategy in power steering systems, and position control for autonomous driving. Commercially available valves are investigated since they provide an attractive solution. A model-based approach is adopted, where simulation of the system is an important tool. Detailed models at both a component level and a system level are developed and form the basis of the analysis and control design. Another important tool is hardware-in-the-loop simulation. A test rig of the system, that also includes the original system, is developed. The rig supports the modelling and validation process, as it also makes it possible to verify control concepts on a real system. This work has shown how proportional pressure control valves can be used for Boost curve control and position control and what implications this has i on a system level. As it turns out, the valves add a great deal of phase shift and with the high gain from the Boost curve, this creates a control challenge. The problem can be handled by tuning the Boost gain, pressure response and damping and has been effectively shown through simulation and experiments. For position control, there is greater freedom to design the controller to fit the system. The pressure response can be made fast enough for this case and the phase shift is much less critical.Keywords: Electrohydraulic power steering, pressure control, closed-centre steering, Boost curve control, autonomous driving, hardware-...

show abstract

Nonlinear trajectory following control for automatic steering of a collision avoiding vehicle

Cited by 35 publications

References 4 publications

Optimal motion planning with the half-car dynamical model for autonomous high-speed driving

Optimal motion planning with the half-car dynamical model for autonomous high-speed driving

A vehicle lateral control approach for collision avoidance by emergency steering maneuvers

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Contact Info

Product

Resources

About