Vehicle Lateral Motion Control with Performance and Safety Guarantees

Ni, Lei; Gupta, Ankit; Falcone, Paolo; Johannesson, Lars

doi:10.1016/j.ifacol.2016.08.043

Cited by 23 publications

(10 citation statements)

References 9 publications

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“…The force applied on the master cylinder in the hydraulic system can be derived as (3) where Fpedal master is master cylinder force generated by pedal side, Fspring is spring force applied on the pedal lever Fdamp damping force applied on the pedal lever from friction.…”

Section: Methodsmentioning

confidence: 99%

Brake by wire control with pedal feedback and brake boost

Abeysiriwardhana

Abeykoon

2021

Bulletin EEI

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"By wire" technology merged into multiple vehicular subsystems, including gear changing, drive, and braking systems. The brake by wire system is developed to overcome the problems associated with the integration of mechanical and hydraulic systems in novel vehicular systems. Even though brake by wire systems has potential advantages, the conventional brake systems' tactile sensation will be removed if migrated to the electrical by wire control scheme. This paper proposes a novel control mechanism that provides amplification of force, scaling of position replication, and a virtual spring-damper based pedal retraction which provides bilateral brake force feedback to the driver's pedal similar to the hydraulic brake system. The proposed system performance was simulated and tested using a bilateral teleoperation system with disturbance observers (DOB) and reaction force observers (RFOB). The proposed system provides pedal force amplification and brake force feedback to the driver's pedal using RFOBs. The virtual spring retracts the brake pedal, similar to a mechanical pedal retraction system. The system simulation and experimental results provide evidence of the proposed system's force amplification, position scaling, and pedal reaction capabilities.

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Section: Methodsmentioning

confidence: 99%

Brake by wire control with pedal feedback and brake boost

Abeysiriwardhana

Abeykoon

2021

Bulletin EEI

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“…According to our proposal, the path is transformed from the global coordinate system into the vehicle’s coordinate system and the reference states, which need to be realized by the vehicle, are expressed according to the state–space representation of the vehicle plant model used for state prediction by the MPC. In the existing research, the reference path is either not defined in a forward-looking way [ 7 , 22 ], or the forward-looking property is limited to the lateral displacement of the vehicle [ 8 , 12 ]. In this article, the authors define both the lateral displacement and the heading angle as a reference series for a finite horizon, as presented in Section 3 .…”

Section: Introductionmentioning

confidence: 99%

LTV-MPC Approach for Automated Vehicle Path Following at the Limit of Handling

Domina

Tihanyi

2022

Sensors

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In this paper, a linear time-varying model predictive controller (LTV-MPC) is proposed for automated vehicle path-following applications. In the field of path following, the application of nonlinear MPCs is becoming more common; however, the major disadvantage of this algorithm is the high computational cost. During this research, the authors propose two methods to reduce the nonlinear terms: one is a novel method to define the path-following problem by transforming the path according to the actual state of the vehicle, while the other one is the application of a successive linearization technique to generate the state–space representation of the vehicle used for state prediction by the MPC. Furthermore, the dynamic effect of the steering system is examined as well by modeling the steering dynamics with a first-order lag. Using the proposed method, the necessary segment of the predefined path is transformed, the linearized model of the vehicle is calculated, and the optimal steering control vector is calculated for a finite horizon at every timestep. The longitudinal dynamics of the vehicle are controlled separately from the lateral dynamics by a PI cruise controller. The performance of the controller is evaluated and the effect of the steering model is examined as well.

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“…Con el advenimiento progresivo de los vehículos autónomos ha surgido la necesidad de automatizar toda una batería de maniobras con el fin de dotar a los vehículos de absoluta funcionalidad para la variedad de situaciones que deben enfrentar. En este artículo se aborda el uso de control reset en una de estas maniobras, la de cambio de carril.Ésta, es una de las estudiadas más concienzudamente como atestiguan los numerosos artículos existentes, por ejemplo, [1], [2], [3], [4] que presentan distintas técnicas de control con el mismo objetivo, realizar el cambio de carril de manera segura y eficiente.…”

Section: Introductionunclassified

Control reset para maniobra de cambio de carril y validación con CarSim

Cerdeira¹,

Falcón²,

Barreiro³

et al. 2020

XXXVIII Jornadas De Automática: Gijón, 6, 7, Y 8 De Septiembre De 2017

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Se estudia la aplicación de control reset a una maniobra de cambio de carril comparándola con una técnica de control lineal convencional. Los resultados obtenidos atestiguan la capacidad de este tipo de control no lineal para superar en rendimiento a los controladores lineales afectados por las limitaciones fundamentales. Se ha comprobado la estabilidad del sistema tanto analíticamente como por simulación con el software de modelado dinámico CarSim.

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Vehicle Lateral Motion Control with Performance and Safety Guarantees

Cited by 23 publications

References 9 publications

Brake by wire control with pedal feedback and brake boost

Brake by wire control with pedal feedback and brake boost

LTV-MPC Approach for Automated Vehicle Path Following at the Limit of Handling

Control reset para maniobra de cambio de carril y validación con CarSim

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