An important aspect from the perspective of operational safety of heavy road vehicles is the detection and avoidance of collisions, particularly at high speeds. The development of a collision avoidance system is the overall focus of the research presented in this paper. The collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort. Important dynamic characteristics such as load transfer during braking, tyre-road interaction, dynamic brake force distribution and pneumatic brake system response were considered. The effect of aerodynamic drag on the controller performance was also studied. The developed control algorithms have been implemented on a Hardware-in-Loop experimental set-up equipped with the vehicle dynamic simulation software, IPG/TruckMaker®. The evaluation has been performed for realistic traffic scenarios with different loading and road conditions. The Hardware-in-Loop experimental results showed that the SMC and full state feedback controller were able to prevent the collision. However, when the discrepancies in the form of parametric variations were included, the SMC provided better results in terms of reduced stopping distance and lower controller effort compared to the full state feedback controller.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Design and hardware-in-loop implementation of collision avoidance algorithms for heavy commercial road vehicles



    Published in:

    Publication date :

    2016




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.20 / 50.32 / 50.32 Dynamik, Schwingungslehre / 55.20 Straßenfahrzeugtechnik
    Local classification TIB:    535/7020



    Design and hardware-in-loop implementation of collision avoidance algorithms for heavy commercial road vehicles

    Rajaram, Vignesh / Subramanian, Shankar C. | Taylor & Francis Verlag | 2016


    Design and hardware-in-the-loop implementation of collision avoidance for heavy commercial road vehicles

    Rajaram,V. / Subramanian,S.C. / Indian Inst.of Technology Madras,IN | Automotive engineering | 2016



    A model-based rear-end collision avoidance algorithm for heavy commercial road vehicles

    Rajaram,V. / Subramanian,S.C. / Indian Inst.of Technol.Madras,IN | Automotive engineering | 2015


    A model-based rear-end collision avoidance algorithm for heavy commercial road vehicles

    Rajaram, Vignesh / Subramanian, Shankar C. | Tema Archive | 2015