Nonlinear-gain-optimized controller development and evaluation for automated emergency vehicle steering

Author

Smith, Dirk E. ; Starkey, John M. ; Benton, Robert E.

Author_Institution

Dept. of Mech. Eng., Louisiana State Univ., Baton Rouge, LA, USA

Volume

5

fYear

1995

fDate

21-23 Jun 1995

Firstpage

3586

Abstract

Earlier research in advanced vehicle control systems (AVCS) has focused on automated lateral and headway control during low-g maneuvers. However, most emergency situations involve high-g maneuvers where vehicle performance becomes nonlinear. Robust controllers need to be developed that can react to these emergency situations. This paper investigates the development of a nonlinear-gain-optimized (NGO) controller for automated lateral control during emergencies. The strategy is to use a linear model to define the state model and a nonlinear model to optimize the feedback gains for high-g emergency maneuvers. The performance of the NGO controller is presented at 15 and 30 m/s for a step lane change and a double lane change. The NGO controller´s robustness is investigated with respect to changes in tire parameters and the number of passengers

Keywords

emergency services; nonlinear control systems; road vehicles; robust control; advanced vehicle control systems; automated emergency vehicle steering; automated lateral control; double lane change; emergency situations; feedback gains; high-g maneuvers; nonlinear-gain-optimized controller; robust controllers; step lane change; Acceleration; Automatic control; Automobiles; Control systems; Equations; Mechanical engineering; Robust control; State feedback; Tires; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.533805

Filename

533805