Title: Nonlinear-gain-optimised controller development and evaluation for automated emergency vehicle steering

Authors: Dirk Smith, Robert Benton, John Starkey

Addresses: Rimkus Consulting Group Inc., 8 Greenway Plaza, Suite 500, Houston, TX, USA., 2508 CEBA Mechanical Engineering, Louisiana State University, Baton Rouge, LA 708063-6413, USA. 1288 Mechanical Engineering Building, Purdue University, West Lafayette, IN 47907-1288, USA

Abstract: Recent research in Advanced Vehicle Control Systems (AVCS) has focused on automated lateral and headway control during low-g manoeuvres. However, most emergencies involve high-g manoeuvres where vehicle performance becomes nonlinear. Robust controllers need to he developed that can react to these. emergencies. This paper investigates development of a nonlinear-gain-optimised (NGO) controller for automated lateral control during emergencies. The strategy is to use a linear model to define the state model and a nonlinear model to optimise feedback gains for high-g emergency manoeuvres. Performance of the NGO controller is presented at 15 and 30 m/s for a step lane change, a double lane change, and inward and outward lane changes initiated during a non-banked 0.1 g turn. The NGO controller|s robustness is investigated with respect to changes in tyre parameters and passenger numbers.

Keywords: emergencies; linear model; nonlinear-gain-optimised (NGO) controller, safety.

DOI: 10.1504/IJVD.2000.001875

International Journal of Vehicle Design, 2000 Vol.24 No.1, pp.79-99

Published online: 18 Aug 2003 *

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