Authors: T.J. Gordon, M.C. Best
Addresses: University of Michigan Transportation Research Institute and Department of Mechanical Engineering, 2901 Baxter Road, Ann Arbor, MI 48109, USA. ' Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, Leics., LE11 3TU, UK
Abstract: This paper concerns a new |Dual Model| methodology for the synthesis of steering, throttle and braking inputs for the closed-loop simulation of linear or non-linear vehicle handling dynamics. The method provides near-optimal driver control inputs that are both insensitive to driver model assumptions, and feasible for use with complex non-linear vehicle handling models. The paper describes the Dual Model technique, and evaluates its effectiveness, in the context of a low-order non-linear handling model, via comparison with independently derived optimal control inputs. A test case of an obstacle avoidance manoeuvre is considered. The methodology is particularly applicable to the design and development of future chassis control systems.
Keywords: driver modelling; vehicle modelling; vehicle handling; optimisation; vehicle control; vehicle design; vehicle dynamics; simulation; steering; throttle; braking; driver control; optimal control; obstacle avoidance; chassis control.
International Journal of Vehicle Design, 2006 Vol.40 No.1/2/3, pp.52 - 76
Available online: 21 Dec 2005 *Full-text access for editors Access for subscribers Purchase this article Comment on this article