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 passenger's 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 autombiles. 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 peformance is examined with respect to changes in tire parameters and changes in vehicle mass.
Automated emergency four-wheel-steered vehicle using continuous gain equations
Die Regelung von vierradgelenkten Fahrzeugen unter Verwendung kontinuierlicher Zielgleichungen
Vehicle System Dynamics ; 26 , 2 ; 127-142
1996
16 Seiten, 10 Bilder, 2 Tabellen, 18 Quellen
Article (Journal)
English
Automated Emergency Four-Wheel-Steered Vehicle Using Continuous Gain Equations
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