Abstract
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 language | English |
|---|---|
| Title of host publication | Proceedings of the HyCON/CEmACS conference on automotive systems and control |
| Place of Publication | Lund, Sweden |
| Publication status | Published - Jun 2006 |
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Keywords
- controller
- automatic collision avoidance manoeuvers
- car
Cite this
}
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 proceeding › Conference 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 -