Closed-loop controller for post-impact vehicle dynamics using individual wheel braking and front axle steering

Yang, Derong and Jacobson, Bengt and Jonasson, Mats and Gordon, Tim J. (2014) Closed-loop controller for post-impact vehicle dynamics using individual wheel braking and front axle steering. International Journal of Vehicle Autonomous Systems, 12 (2). pp. 158-179. ISSN 1471-0226

Documents
2014 IJVAS Post Impact final.pdf
[img]
[Download]
[img]
Preview
PDF
2014 IJVAS Post Impact final.pdf - Whole Document

431kB
Item Type:Article
Item Status:Live Archive

Abstract

This paper presents a vehicle path controller for reducing the maximum lateral deviation (Ymax) after an initial impact in a traffic accident. In previous research, a Quasi-Linear Optimal Controller (QLOC) was proposed and applied to a simple vehicle model with individually controlled brake actuators. QLOC uses non-linear optimal control theory to provide a semiexplicit approximation for optimal post-impact path control, and in principle can be applied to an arbitrary number of actuators. The current work extends and further validates the control method by analysing the effects of adding an active front axle steering actuator at different post-impact kinematics, as well as increasing the fidelity of the vehicle model in the closed-loop controlled system. The controller performance is compared with the results from open-loop numerical optimisation which uses the same vehicle model. The inherent robustness properties of the QLOC algorithm are demonstrated by its direct application to an independent high-fidelity multi-body vehicle model. Towards real-time implementation, the algorithm is further simplified so that the computational efficiency is enhanced, whereas the performance is shown not to be degraded.

Additional Information:This paper is a revised and expanded version of a paper entitled ‘Closed-loop controller for post-impact vehicle dynamics using individual wheel braking and front axle steering’ presented at the ‘International Conference on Advance Vehicle Technologies and Integration’, ChangChun, China, 16–19 July 2012.
Keywords:Collision avoidance systems, active safety, path control, post-impact, optimal control, braking systems, steering systems, NotOAChecked
Subjects:H Engineering > H660 Control Systems
H Engineering > H310 Dynamics
H Engineering > H300 Mechanical Engineering
Divisions:College of Science > School of Engineering
ID Code:19228
Deposited On:31 Oct 2015 19:46

Repository Staff Only: item control page