A flexible hierarchical model-based control methodology for vehicle active safety systems

Chang, S. and Gordon, T. J. (2008) A flexible hierarchical model-based control methodology for vehicle active safety systems. Vehicle System Dynamics, 46 (SUPPL.). pp. 63-75. ISSN 0042-3114

Full content URL: http://dx.doi.org/10.1080/00423110701882306

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Item Type:Article
Item Status:Live Archive


A hierarchical control scheme is applied to the problem of integrated chassis control of a collision avoidance system (CAS). This includes both lateral and longitudinal control, using Active Front Steer in addition to the brake actuators. The inherent flexibility of the control system is provided by the intermediate layer, which employs a form of model predictive control to determine actuator apportionment. The desired vehicle motions in the upper layer, in the form of reference yaw rate and two-dimensional mass center accelerations, are determined using a kinematic policy (KP) for collision avoidance. The KP uses simple information about range and azimuth angles for multiple points that bound the available vehicle trajectory, and prioritises yaw motion response based on the worst case collision threat. This KP approach for CAS is more practical than trajectory tracking approaches because the KP does not need a pre-defined a reference path and does not need any computationally intensive optimisation of the vehicle motion control.

Additional Information:Published online: 28 Jan 2009
Keywords:Actuators, Collision avoidance, Computer networks, Diffractive optical elements, Hierarchical systems, Predictive control systems, Trajectories, Vehicles, System theory, Active safety, Active safety systems, Driver modelling, Hierarchical control scheme, Integrated chassis control, Model predictive control, Active safety, Azimuth angles, Chassis control, Collision avoidance systems, Hierarchical model, Inherent flexibility, Integrated chassis control, Intermediate layers, Longitudinal control, Mass centers, Multiple points, Optimisations, Reference path, Simple informations, Trajectory tracking, Upper layer, Vehicle motion, Vehicle trajectories, Worst case, Yaw motions, Yaw rate
Subjects:H Engineering > H660 Control Systems
H Engineering > H330 Automotive Engineering
Divisions:College of Science > School of Engineering
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ID Code:11665
Deposited On:01 Oct 2013 17:18

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