SENSING AND CONTROL TO ENHANCE THE SAFETY OF HEAVY VEHICLES

The University of Minnesota and the Minnesota Department of Transportation (MNDOT) are working to improve the safety of heavy trucks on rural highways. The goal is to investigate how reductions in roadway departure accidents can be achieved by integrating emerging sensing and control technologies into a guidance control system that will operate a vehicle in case the driver falls asleep at the wheel. This controller will achieve lateral and longitudinal control of a semi tractor-trailer experimental platform, which is based on a Navistar 9400 series tractor. Vehicle navigation will be based on a differential global positioning system (DGPS) with a bandwidth of 5 Hz and accuracy better than 20 cm CEP. Complementing the DGPS will be an inertial measurement unit and dead reckoning package. The objective is to implement, test, and optimize a Kalman filter based controller, integrating inertial measurements and DGPS data for lateral and longitudinal control of the truck while navigating on the road. The 3.9 km closed course portion of the MNDOT pavement test facility serves as initial proving grounds for the technology. The vehicle control system will be tested and evaluated to ensure that it is robust and reliable under a wide range of operating conditions. The following tasks are currently ongoing: 1) evaluating the DGPS as to its dynamic accuracy, its error covariance, and its bandwidth; and 2) evaluating the truck's dynamic models by performing a series of parameter identification tests on the Navistar truck.

  • Supplemental Notes:
    • Five volumes of papers and one volume of abstracts comprise the published set of conference materials.
  • Corporate Authors:

    VERTIS

    TORANOMOM 34 MORI BUILDING 1-25-5
    TORANOMON, MINATOKU, TOKYO 105  Japan 
  • Authors:
    • Shankwitz, C
    • Donath, M
    • Morellas, V
    • Johnson, D
  • Conference:
  • Publication Date: 1995-11

Language

  • English

Media Info

  • Pagination: p. 1051

Subject/Index Terms

Filing Info

  • Accession Number: 00722037
  • Record Type: Publication
  • Report/Paper Numbers: Volume 3
  • Files: TRIS
  • Created Date: Jun 24 2001 12:00AM