Quasi-linear optimal path controller applied to post impact vehicle dynamics

Yang, D. and Gordon, T. J. and Jacobson, B. and Jonasson, M. (2012) Quasi-linear optimal path controller applied to post impact vehicle dynamics. IEEE Transactions on Intelligent Transportation Systems, 13 (4). pp. 1586-1598. ISSN 1524-9050

Full content URL: http://dx.doi.org/10.1109/TITS.2012.2204875

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Item Type:Article
Item Status:Live Archive

Abstract

This paper investigates brake-based path control of a passenger vehicle, aimed at reducing secondary collision risk, following an initial impact in a traffic accident. This risk may be reduced if lateral deviations from the preimpact path can be minimized, at least on straight roads. Numerical optimization has previously shown that coupled control of lateral forces and yaw moments can be applied to effectively minimize such path deviations. In this paper, a quasi-linear optimal controller (QLOC) is proposed to achieve this control target. QLOC uses nonlinear optimal control theory to provide a semiexplicit approximation for optimal post impact (PI) path control. The controller design method is novel, combining linear costate dynamics with nonlinear constraints due to tire friction limits. A fully closed-loop form of the controller is presented; it is applicable to multiple-event accidents occurring on straight roads, including adaptive estimation of the time instant at maximum deviation. The controller achieves performance that is very similar to that of open-loop numerical optimization. Assuming that the vehicle remains on the road surface after the impact and that the brake actuators remain operational, it is verified that the path controller is effective over a wide range of PI kinematic conditions. It is expected that the QLOC controller will prove useful in other cases where chassis systems directly control the vehicle path, e.g., in crash-imminent avoidance maneuvers. © 2011 IEEE.

Additional Information:First published online 10 July 2012
Keywords:Adaptive estimation, Chassis system, Closed-loop, Collision risks, Control target, Controller design method, Kinematic condition, Lateral deviation, Lateral force, Non-linear constraints, Non-linear optimal control, Numerical optimizations, Optimal controller, Optimal controls, Optimal paths, Passenger vehicles, Path control, post impact (PI), Pre-impact, Quasi-linear, Road surfaces, Tire friction, Vehicle dynamics, Yaw moment, Accidents, Brakes, Braking, Collision avoidance, Control, Dynamics, Machine tools, Optimization, Controllers
Subjects:H Engineering > H100 General Engineering
H Engineering > H330 Automotive Engineering
Divisions:College of Science > School of Engineering
ID Code:11646
Deposited On:01 Oct 2013 18:34

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