This paper investigates the use of several different inputs for the control of a vehicle, in the context of URD (Unitended Roadway Departure). In this investigation, the goal of the URD controller is to provide an intervention in the event of the vehicle leaving the road. The types of inputs that will be considered are (i) Four Wheel Steering, (ii) Front Wheel Steering, (iii) Four Wheel Brake Steering, (iv) Front Wheel Brake Steering, and (v) Rear Wheel Brake Steering. The controller design is an LQ 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 of this paper is the quantitative evaluation of the relative efficiencies of each of these input strategies being examined. Unlike most control schemes, the performance measure to be used will not be the output tracking error of the system. Instead, the metric of performance is the ratio of peak tire force used 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 control
Vehicle System Dynamics ; 27 , 3 ; 157-186
1997
30 Seiten, 32 Bilder, 12 Quellen
Article (Journal)
English
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
Automotive engineering | 1997
|A Comparison of Alternative Intervention Strategies for Unintended Roadway Departure (URD) Control
Taylor & Francis Verlag | 1997
|A comparison of alternative intervention strategies for unintended roadway departure ( URD ) control
Automotive engineering | 1996
|