By Topic

Quasi-Linear Optimal Path Controller Applied to Post Impact Vehicle Dynamics

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Derong Yang ; Department of Applied Mechanics, Chalmers University of Technology, Gothenburg, Sweden ; Timothy J. Gordon ; Bengt Jacobson ; Mats Jonasson

This paper investigates brake-based path control of a passenger vehicle, aimed at reducing secondary collision risk, following an initial impact in a traffic accident. This risk may be reduced if lateral deviations from the preimpact path can be minimized, at least on straight roads. Numerical optimization has previously shown that coupled control of lateral forces and yaw moments can be applied to effectively minimize such path deviations. In this paper, a quasi-linear optimal controller (QLOC) is proposed to achieve this control target. QLOC uses nonlinear optimal control theory to provide a semiexplicit approximation for optimal post impact (PI) path control. The controller design method is novel, combining linear costate dynamics with nonlinear constraints due to tire friction limits. A fully closed-loop form of the controller is presented; it is applicable to multiple-event accidents occurring on straight roads, including adaptive estimation of the time instant at maximum deviation. The controller achieves performance that is very similar to that of open-loop numerical optimization. Assuming that the vehicle remains on the road surface after the impact and that the brake actuators remain operational, it is verified that the path controller is effective over a wide range of PI kinematic conditions. It is expected that the QLOC controller will prove useful in other cases where chassis systems directly control the vehicle path, e.g., in crash-imminent avoidance maneuvers.

Published in:

IEEE Transactions on Intelligent Transportation Systems  (Volume:13 ,  Issue: 4 )