The goal of the URD (Unintended Roadway Departure) controller is to provide an intervention in the event of the vehicle leaving the road. Several different inputs are investigated for the control of a vehicle. Thy types of inputs are: (1) four wheel steering, (2) front wheel steering, (3) four wheel brake steering, (4) front wheel brake steering, and (5) rear wheel brake steering. The controller design is an LQ (Linear system with Quadratic cost function) controller based on the simplified dynamics of a 2-degree of freedom bicycle model. However, the analysis of the different strategies are performed on a 7-degree-of-freedom nonlinear vehicle model. The key contribution is the quantitative evaluation of the relative efficiencies of each of these input strategies being examined. Unlike most control schemes, the performance measure is not the output tracking error of the system. Instead, the metric of performance is the ratio of peak tire force versus available tire force or, in other words, the actuator response relative to the maximum available actuator capability.
A comparison of alternative intervention strategies for unintended roadway departure (URD) control
Vergleich alternativer Regelungsstrategien für Straßenfahrzeuge gegen das ungewollte Verlassen der Fahrspur
1996
22 Seiten, Bilder, 12 Quellen
Aufsatz (Konferenz)
Englisch
A Comparison of Alternative Intervention Strategies for Unintended Roadway Departure (URD) Control
Online Contents | 1997
|A Comparison of Alternative Intervention Strategies for Unintended Roadway Departure (URD) Control
Taylor & Francis Verlag | 1997
|