Car Driving at the Limit by Adaptive Linear Optimal Preview Control

This paper deals with the modeling of car drivers. The context of the work presented is explained. Then, previous research on the application of optimal linear preview control theory to driving road vehicles with only modest excursions from a straight-running equilibrium state is extended into the general large-lateral-motion arena. Optimal controls are found for steady-cornering trim states of an exemplary car at a given speed as a function of cornering effort, up to the practical limit. The manner in which the optimal controls change as the cornering vigor changes is discussed. Simulations of the virtual driver-controlled car are shown to demonstrate the closed-loop system following lateral path demands and the advantages of employing gain-scheduled adaptive control over a fixed-control scheme are demonstrated.

  • Availability:
  • Supplemental Notes:
    • Abstract reprinted with permission from Taylor and Francis
  • Authors:
    • Sharp, R S
    • Evangelou, S
    • Thommyppillai, M
  • Publication Date: 2009-12

Language

  • English

Media Info

  • Media Type: Print
  • Features: Figures; References; Tables;
  • Pagination: pp 1535-1550
  • Serial:

Subject/Index Terms

Filing Info

  • Accession Number: 01146413
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Dec 13 2009 8:06PM