Performance comparison of collision avoidance controller designs

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

doi:10.1109/IVS.2007.4290159

Performance comparison of collision avoidance controller designs

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

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceeding of the 2007 IEEE Intelligent Vehicle Symposium
Publisher	IEEE
Pages	468-473
Number of pages	6
Volume	IV
ISBN (Electronic)	1-4244-1068-1
ISBN (Print)	1-4244-1067-3
DOIs	https://doi.org/10.1109/IVS.2007.4290159
Publication status	Published - Jun 2007

Publication series

Name	Proceeding of the 2007 IEEE Intelligent Vehicle Symposium
Publisher	IEEE
ISSN (Print)	1931-0587

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

Documents and Links

10.1109/IVS.2007.4290159

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title = "Performance comparison of collision avoidance controller designs",

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",

author = "Bevan, {Geraint P.} and O'Neill, {Simon J.} and Henrik Gollee and John O'Reilly",

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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 proceeding › Conference contribution

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T1 - Performance comparison of collision avoidance controller designs

AU - Bevan, Geraint P.

AU - O'Neill, Simon J.

AU - Gollee, Henrik

AU - O'Reilly, John

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N2 - 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.

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.

KW - collision avoidance

KW - control system synthesis

KW - vehicle dynamics

KW - automatic control

KW - control systems

KW - sliding mode control

KW - velocity control

KW - linear feedback control systems

KW - tires

KW - stability

KW - automotive engineering

U2 - 10.1109/IVS.2007.4290159

DO - 10.1109/IVS.2007.4290159

M3 - Conference contribution

SN - 1-4244-1067-3

VL - IV

T3 - Proceeding of the 2007 IEEE Intelligent Vehicle Symposium

SP - 468

EP - 473

BT - Proceeding of the 2007 IEEE Intelligent Vehicle Symposium

PB - IEEE

ER -