Performance comparison of collision avoidance controller designs

Geraint P. Bevan, Simon J. O'Neill, Henrik Gollee, John O'Reilly

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

Abstract

A comparison is made between two vehicle control strategies for two different manoeuvres: a gentle and aggressive lane-change. Simulation results demonstrate that the choice of control objectives and selection of appropriate design approximations have a significant impact on the performance of the controller under these different manoeuvre conditions. A lateral control design trade-off between passenger comfort and collision avoidance capability is evident.
Original languageEnglish
Title of host publicationProceeding of the 2007 IEEE Intelligent Vehicle Symposium
PublisherIEEE
Pages468-473
Number of pages6
VolumeIV
ISBN (Electronic)1-4244-1068-1
ISBN (Print)1-4244-1067-3
DOIs
Publication statusPublished - Jun 2007

Publication series

NameProceeding of the 2007 IEEE Intelligent Vehicle Symposium
PublisherIEEE
ISSN (Print)1931-0587

Fingerprint

Collision avoidance
Controllers

Keywords

  • collision avoidance
  • control system synthesis
  • vehicle dynamics
  • automatic control
  • control systems
  • sliding mode control
  • velocity control
  • linear feedback control systems
  • tires
  • stability
  • automotive engineering

Cite this

Bevan, G. P., O'Neill, S. J., Gollee, H., & O'Reilly, J. (2007). Performance comparison of collision avoidance controller designs. In Proceeding of the 2007 IEEE Intelligent Vehicle Symposium (Vol. IV, pp. 468-473). (Proceeding of the 2007 IEEE Intelligent Vehicle Symposium). IEEE. https://doi.org/10.1109/IVS.2007.4290159
Bevan, Geraint P. ; O'Neill, Simon J. ; Gollee, Henrik ; O'Reilly, John. / Performance comparison of collision avoidance controller designs. Proceeding of the 2007 IEEE Intelligent Vehicle Symposium. Vol. IV IEEE, 2007. pp. 468-473 (Proceeding of the 2007 IEEE Intelligent Vehicle Symposium).
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abstract = "A comparison is made between two vehicle control strategies for two different manoeuvres: a gentle and aggressive lane-change. Simulation results demonstrate that the choice of control objectives and selection of appropriate design approximations have a significant impact on the performance of the controller under these different manoeuvre conditions. A lateral control design trade-off between passenger comfort and collision avoidance capability is evident.",
keywords = "collision avoidance, control system synthesis, vehicle dynamics, automatic control, control systems, sliding mode control, velocity control, linear feedback control systems, tires, stability, automotive engineering",
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Bevan, GP, O'Neill, SJ, Gollee, H & O'Reilly, J 2007, Performance comparison of collision avoidance controller designs. in Proceeding of the 2007 IEEE Intelligent Vehicle Symposium. vol. IV, Proceeding of the 2007 IEEE Intelligent Vehicle Symposium, IEEE, pp. 468-473. https://doi.org/10.1109/IVS.2007.4290159

Performance comparison of collision avoidance controller designs. / Bevan, Geraint P.; O'Neill, Simon J.; Gollee, Henrik; O'Reilly, John.

Proceeding of the 2007 IEEE Intelligent Vehicle Symposium. Vol. IV IEEE, 2007. p. 468-473 (Proceeding of the 2007 IEEE Intelligent Vehicle Symposium).

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

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AB - A comparison is made between two vehicle control strategies for two different manoeuvres: a gentle and aggressive lane-change. Simulation results demonstrate that the choice of control objectives and selection of appropriate design approximations have a significant impact on the performance of the controller under these different manoeuvre conditions. A lateral control design trade-off between passenger comfort and collision avoidance capability is evident.

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KW - control system synthesis

KW - vehicle dynamics

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KW - control systems

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KW - velocity control

KW - linear feedback control systems

KW - tires

KW - stability

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Bevan GP, O'Neill SJ, Gollee H, O'Reilly J. Performance comparison of collision avoidance controller designs. In Proceeding of the 2007 IEEE Intelligent Vehicle Symposium. Vol. IV. IEEE. 2007. p. 468-473. (Proceeding of the 2007 IEEE Intelligent Vehicle Symposium). https://doi.org/10.1109/IVS.2007.4290159