Development of a controller to perform an automatic collision avoidance manoeuvre for a passenger car

Geraint Bevan, Henrik Gollee, John O'Reilly

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An automatic controller is being developed to cause a passenger car to perform
a lateral emergency collision avoidance manoeuvre: a single lane change at high
speed, while operating at the vehicle’s physical limits.
The car is stabilised about a predetermined velocity profile by a feedforward
steering action based on the Ackermann steering angle, combined with a feedback control loop which uses the anti-lock braking system to apply differential torques to each of the wheels. The forces to be applied to each wheel are calculated using the pseudo-inverse of a velocity-based linearisation of a system model.
This inverse controller acts upon a signal containing the lateral and yaw velocity
error, fed back through a scheduled gain matrix; the matrix, obtained by pole
placement and scheduled according to the vehicle state, causes the car to exhibit uniform dynamic behaviour as its speed increases.
An additional control loop augments the steering angle of the front wheels,
using actuators which form part of a steer-by-wire system, to correct for errors
in the lateral position and heading angle for which the force/velocity control loop does not account.
The control system is evaluated in simulation experiments which show that
the performance requirements are met over a wide range of velocities
Original languageEnglish
Title of host publicationProceedings of the HyCON/CEmACS conference on automotive systems and control
Place of PublicationLund, Sweden
Publication statusPublished - Jun 2006

Fingerprint

Passenger cars
Collision avoidance
Wheels
Controllers
Railroad cars
Anti-lock braking systems
Velocity control
Force control
Linearization
Feedback control
Actuators
Torque
Wire
Control systems
Experiments

Keywords

  • controller
  • automatic collision avoidance manoeuvers
  • car

Cite this

Bevan, G., Gollee, H., & O'Reilly, J. (2006). Development of a controller to perform an automatic collision avoidance manoeuvre for a passenger car. In Proceedings of the HyCON/CEmACS conference on automotive systems and control Lund, Sweden.
Bevan, Geraint ; Gollee, Henrik ; O'Reilly, John. / Development of a controller to perform an automatic collision avoidance manoeuvre for a passenger car. Proceedings of the HyCON/CEmACS conference on automotive systems and control. Lund, Sweden, 2006.
@inproceedings{e3cf09808c7843e094635db964ca3cb1,
title = "Development of a controller to perform an automatic collision avoidance manoeuvre for a passenger car",
abstract = "An automatic controller is being developed to cause a passenger car to performa lateral emergency collision avoidance manoeuvre: a single lane change at highspeed, while operating at the vehicle’s physical limits.The car is stabilised about a predetermined velocity profile by a feedforwardsteering action based on the Ackermann steering angle, combined with a feedback control loop which uses the anti-lock braking system to apply differential torques to each of the wheels. The forces to be applied to each wheel are calculated using the pseudo-inverse of a velocity-based linearisation of a system model.This inverse controller acts upon a signal containing the lateral and yaw velocityerror, fed back through a scheduled gain matrix; the matrix, obtained by poleplacement and scheduled according to the vehicle state, causes the car to exhibit uniform dynamic behaviour as its speed increases.An additional control loop augments the steering angle of the front wheels,using actuators which form part of a steer-by-wire system, to correct for errorsin the lateral position and heading angle for which the force/velocity control loop does not account.The control system is evaluated in simulation experiments which show thatthe performance requirements are met over a wide range of velocities",
keywords = "controller, automatic collision avoidance manoeuvers, car",
author = "Geraint Bevan and Henrik Gollee and John O'Reilly",
note = "https://www.researchgate.net/profile/Geraint_Bevan/publication/228910253_Development_of_a_controller_to_perform_an_automatic_lateral_emergency_collision_avoidance_manoeuvre_for_a_passenger_car/links/0deec535d75454f64a000000/Development-of-a-controller-to-perform-an-automatic-lateral-emergency-collision-avoidance-manoeuvre-for-a-passenger-car.pdf ST 27-01-17",
year = "2006",
month = "6",
language = "English",
booktitle = "Proceedings of the HyCON/CEmACS conference on automotive systems and control",

}

Bevan, G, Gollee, H & O'Reilly, J 2006, Development of a controller to perform an automatic collision avoidance manoeuvre for a passenger car. in Proceedings of the HyCON/CEmACS conference on automotive systems and control. Lund, Sweden.

Development of a controller to perform an automatic collision avoidance manoeuvre for a passenger car. / Bevan, Geraint; Gollee, Henrik; O'Reilly, John.

Proceedings of the HyCON/CEmACS conference on automotive systems and control. Lund, Sweden, 2006.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - Development of a controller to perform an automatic collision avoidance manoeuvre for a passenger car

AU - Bevan, Geraint

AU - Gollee, Henrik

AU - O'Reilly, John

N1 - https://www.researchgate.net/profile/Geraint_Bevan/publication/228910253_Development_of_a_controller_to_perform_an_automatic_lateral_emergency_collision_avoidance_manoeuvre_for_a_passenger_car/links/0deec535d75454f64a000000/Development-of-a-controller-to-perform-an-automatic-lateral-emergency-collision-avoidance-manoeuvre-for-a-passenger-car.pdf ST 27-01-17

PY - 2006/6

Y1 - 2006/6

N2 - An automatic controller is being developed to cause a passenger car to performa lateral emergency collision avoidance manoeuvre: a single lane change at highspeed, while operating at the vehicle’s physical limits.The car is stabilised about a predetermined velocity profile by a feedforwardsteering action based on the Ackermann steering angle, combined with a feedback control loop which uses the anti-lock braking system to apply differential torques to each of the wheels. The forces to be applied to each wheel are calculated using the pseudo-inverse of a velocity-based linearisation of a system model.This inverse controller acts upon a signal containing the lateral and yaw velocityerror, fed back through a scheduled gain matrix; the matrix, obtained by poleplacement and scheduled according to the vehicle state, causes the car to exhibit uniform dynamic behaviour as its speed increases.An additional control loop augments the steering angle of the front wheels,using actuators which form part of a steer-by-wire system, to correct for errorsin the lateral position and heading angle for which the force/velocity control loop does not account.The control system is evaluated in simulation experiments which show thatthe performance requirements are met over a wide range of velocities

AB - An automatic controller is being developed to cause a passenger car to performa lateral emergency collision avoidance manoeuvre: a single lane change at highspeed, while operating at the vehicle’s physical limits.The car is stabilised about a predetermined velocity profile by a feedforwardsteering action based on the Ackermann steering angle, combined with a feedback control loop which uses the anti-lock braking system to apply differential torques to each of the wheels. The forces to be applied to each wheel are calculated using the pseudo-inverse of a velocity-based linearisation of a system model.This inverse controller acts upon a signal containing the lateral and yaw velocityerror, fed back through a scheduled gain matrix; the matrix, obtained by poleplacement and scheduled according to the vehicle state, causes the car to exhibit uniform dynamic behaviour as its speed increases.An additional control loop augments the steering angle of the front wheels,using actuators which form part of a steer-by-wire system, to correct for errorsin the lateral position and heading angle for which the force/velocity control loop does not account.The control system is evaluated in simulation experiments which show thatthe performance requirements are met over a wide range of velocities

KW - controller

KW - automatic collision avoidance manoeuvers

KW - car

M3 - Conference contribution

BT - Proceedings of the HyCON/CEmACS conference on automotive systems and control

CY - Lund, Sweden

ER -

Bevan G, Gollee H, O'Reilly J. Development of a controller to perform an automatic collision avoidance manoeuvre for a passenger car. In Proceedings of the HyCON/CEmACS conference on automotive systems and control. Lund, Sweden. 2006