학위논문 (박사)-- 서울대학교 융합과학기술대학원 : 지능형융합시스템학과, 2014. 8. 이경수. ; This dissertation describes the design and verification of control algorithm for advanced lane change assist systems (ALCA) with integrated control of differential braking and electric power steering (EPS) system. The ALCA system can warn a potential rear side crashes and prevent collisions in lane change maneuvers with active intervention when there is an upcoming vehicle with potential risk to the rear in the next lane. The objective of the proposed control algorithm of ALCA system is to minimize the unexpected control input of EPS and to make maximum use of differential brake effort. An enhanced LCA warning algorithm is developed with additional information of estimated past trajectory of subject vehicle. The upper controller of the ALCA determines the control on/off decision, the desired yaw rate for collision avoidance, and the strategic control input distribution. The key strategy of this integrated control algorithm is to use the maximum tire road friction of the differential brake force and to operate with smaller control effort of the EPS only when lacking in the amount of yaw rate moment by the electronic stability control (ESC), which is intended for minimizing driver annoyance and control intervention. The lower controller decides the control input of an advanced ESC and EPS system. A rear/side radar and front camera are adopted as environmental sensors. The rear/side radar is used to detect object vehicles at the rear and side area of the subject vehicle. The camera is used to get lane information about front road. Advanced ESC and EPS are adopted as actuators to execute automatic control for collision avoidance. A control algorithm for differential brake is implemented to generate yaw rate using advanced ESC and steering angle control algorithm is developed to compensate deficit yaw rate using EPS. A control algorithm for differential brake consists of upper and lower level controller. A target wheel cylinder pressure is calculated with feedforward and feedback controller in the upper level controller. A target current of valves and motor are determined in the lower level controller. Finally the ALCA system is implemented in a real vehicle and tested in both steering control only case and integrated control case. It is shown that the proposed strategy can intervene appropriately and verify the effectiveness of collision avoidance in dangerous lane change situation and about 20% decrease of EPS control input can be achieved by the proposed algorithm. ; Abstract i List of Tables vii List of Figures viii Nomenclature xi Chapter 1 Introduction 1 1.1 Background and Motivation 1 1.2 Previous Researches 3 1.3 Thesis Objectives 4 1.4 Thesis Contribution 5 1.4 Thesis Outline 6 Chapter 2 Concept, System Configuration and Overall Control Algorithm of Advanced Lane Change Assist System 8 2.1 Concept of Advanced Lane Change Assist System 8 2.2 Configuration of Advanced Lane Change Assist System 9 2.3 Overall Advanced Lane Change Assist Algorithm Structure 13 Chapter 3 Signal Processing and Parameter Estimation 16 3.1 Rear/Side Radar Accuracy Testing and Filtering 16 3.2 Time-to-Lane (TLC) Calculation 22 3.3 Lateral Velocity Estimation 25 Chapter 4 Algorithm for Improving Lane Change Assist (LCA) Function 29 4.1 Subject Vehicle Trajectory Regeneration 29 4.2 Enhanced Lane Change Assist System 39 Chapter 5 Advanced Lane Change Assist Algorithm 44 5.1 Upper-Level controller 44 5.1.1 Decision of ALCA On and Off Conditions 45 5.1.2 Calculation of target heading angle and target yaw rate 47 5.1.3 Control Criteria : Determination of Minimum Distance 52 5.1.4 Strategy for control input distribution for ESC and EPS 56 5.1.5 Driver Intention Detection 60 5.2 Lower-Level Controller 62 5.2.1 Design of Optimal Controller with Disturbance Rejection 63 5.3 Robustness Verification for Controller Performance 67 5.4 Fail-Safe Concept of Overall ALCA System 72 5.4.1 Countermeasure of Radar Sensor Failure 73 5.4.2 Countermeasure of Camera Sensor Failure 75 5.4.3 Countermeasure of ESC Actuator Failure 75 Chapter 6 Yaw Rate Controller of ESC and Steering Angle Controller of EPS System 79 6.1 Yaw-Rate Controller 79 6.1.1 Wheel Cylinder Pressure Control-based Yaw Rate Controller. 82 6.1.1.1 Upper Level Controller 83 6.1.1.2 Lower Level Controller 88 6.1.2 Wheel Slip Ratio Control-based Yaw Rate Controller . 99 6.1.3 Improvement of Response Time of Yaw Rate Controller. 103 6.2 EPS Steering Angle Controller 104 Chapter 7 Vehicle Test Results 110 Chapter 8 Conclusions and Future Works 121 Bibliography 123 국문초록 129 ; Doctor


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    Titel :

    Integrated differential braking and electric power steering control for advanced lane change assist systems ; 차선 변경 충돌 회피 시스템을 위한 편제동 및 전기 모터 기반 조향 장치 통합 제어



    Erscheinungsdatum :

    2014-01-01


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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