NONLINEAR-GAIN-OPTIMIZED CONTROLLER DEVELOPMENT AND EVALUATION FOR AUTOMATED EMERGENCY VEHICLE STEERING

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 be developed that can react to these emergencies. This paper investigates development of a nonlinear-gain-optimized (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 optimize 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. (A)

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  • Corporate Authors:

    Inderscience Enterprises Limited

    World Trade Center Building, 110 Avenue Louis Casai
    Geneva,   Switzerland 
  • Authors:
    • Smith, D
    • BENTON, R
    • STARKEY, J
  • Publication Date: 2000

Language

  • English

Media Info

Subject/Index Terms

Filing Info

  • Accession Number: 00793677
  • Record Type: Publication
  • Source Agency: Transport Research Laboratory
  • Files: ITRD, ATRI
  • Created Date: Jun 15 2000 12:00AM