Nonlinear crossover model of vehicle directional control

Gordon, T. J. (2009) Nonlinear crossover model of vehicle directional control. In: American Control Conference, St. Louis, MO, 10-12 June 2009.

Full content URL: http://dx.doi.org/10.1109/ACC.2009.5160653

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

This paper develops a simple nonlinear control model to represent the dynamics of a coupled vehicle-driver system. It is applied to an analysis of delay and preview time in closed-loop control. The model is a reduced-order non-linear model based on a separation between kinetic and kinematic driver control components. In kinetic control, vehicle dynamics and compensatory actions are represented in a fashion similar to the well-known linear "crossover" model; kinematic control takes the form of a reference velocity derived from the local roadway. Analytic stability results are developed, providing specific relationships between minimum preview, speed, time-delay and disturbance amplitude. The analysis is developed quite generally, but is applied in detail to straight-line path following on a flat horizontal road. Predictions are validated using results from one specific experimental study. The model is suitable for developing highlevel control methods relating to active safety, as in automated collision avoidance systems. © 2009 AACC.

Additional Information:Conference Code:78162
Keywords:Active safety, Closed-loop control, Collision avoidance systems, Control components, Control methods, Cross-over model, Directional control, Disturbance amplitudes, Driver systems, Experimental studies, Kinematic control, Kinetic control, Local roadways, Non linear control, Non-linear model, Path following, Reduced order, Reference velocity, Stability results, Vehicle dynamics, Automobile parts and equipment, Closed loop control systems, Kinematics, Nonlinear control systems, Delay control systems
Subjects:H Engineering > H100 General Engineering
H Engineering > H330 Automotive Engineering
Divisions:College of Science > School of Engineering
ID Code:11660
Deposited On:03 Oct 2013 17:55

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