Advanced Vehicle Control Systems (AVCS), when realized, should substantially increase the convenience and safety of highway travel. Automated lateral control is an important step in the realization of AVCS. Much research has been concerned with lateral control during low-g maneuvers. However, before passengers' lives are in the hands of any automated laterally-controlled vehicle, the vehicle controller must be designed to respond to emergency situations where high-g maneuvers may be necessary.

    This paper presents the development of a nonlinear-gain-optimized (NGO) controller for emergency automated lateral control of four wheel steered automobiles. Continuous gain equations (GE) are used to account for changes in the vehicle speed. The NGO controller uses a linear vehicle/tire model to define the state model. The response of a nonlinear vehicle/tire model is used to choose the performance index that optimizes the feedback gains for high-g emergency maneuvers at discrete speeds. Continuous gain equations are then derived as least-square approximations to each set of gains.

    The performance of the four-wheel-steer continuous gain equations (4WS-GE) controller is compared to that of a two-wheel-steer continuous gain equations (2WS-GE) controller. Significant improvements in vehicle response are realized by using the 4WS-GE controller. The robustness of the controller's performance is examined with respect to changes in tire parameters and changes in vehicle mass.


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    Title :

    Automated Emergency Four-Wheel-Steered Vehicle Using Continuous Gain Equations


    Contributors:

    Published in:

    Vehicle System Dynamics ; 26 , 2 ; 127-142


    Publication date :

    1996-08-01


    Size :

    16 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown



    Automated emergency four-wheel-steered vehicle using continuous gain equations

    Smith,D.E. / Benton,R.E. / Louisiana State Univ.,US | Automotive engineering | 1996




    Automated emergency steering using continuous gain equations

    Smith, D.E. / Starkey, J.M. | Tema Archive | 1995