Authors: D.E. Smith, J.M. Starkey
Addresses: 2508 CEBA Mechanical Engineering, Louisiana State University, Baton Rouge, LA 70803-6413, USA. ' 1288 Mechanical Engineering Building, Purdue University, West Lafayette, IN 47907-1288, USA
Abstract: Advanced vehicle control systems (AVCS) offer great potential to reduce traffic congestion, decrease travel times, and increase safety. Automated lateral control is an integral part of AVCS. To date, most research has focused on lateral control for lane and curve tracking, and lane merging. To implement an automated control system, it must be able to sense and safely react to emergency situations. An emergency lateral control strategy is presented that accounts for changing vehicle speed using continuous gain equations. A linear vehicle/tyre model is used in the development of a linear state model. A nonlinear vehicle/tyre model is used in the optimization of the feedback gains. Because the state model is velocity dependent, feedback gains are derived for discrete vehicle speeds. These data points are then used to derive continuous gain equations for the feedback gains. The performance using the gain equations is compared to that of using constant gains. Conclusions are drawn about the performance and robustness of the controller using the continuous gain equations. Vehicle response is improved with the use of continuous gain equations, for both single and double lane changes.
Keywords: advanced vehicle control; automated steering; constant gain equations; controller design; emergency steering; vehicle dynamics; steering automation; lateral control; emergency situations; vehicle-tyre modelling; linear state models; nonlinear models; robust control; lane changing; lane change manoeuvres; continuous gain equations; vehicle design.
International Journal of Vehicle Design, 1995 Vol.16 No.1, pp.1 - 14
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