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**Harvard**

Yang, D., Gordon, T., Jacobson, B. och Jonasson, M. (2013) *An Optimal Path Controller Minimizing Longitudinal and Lateral Deviations after Light Collisions*.

** BibTeX **

@conference{

Yang2013,

author={Yang, Derong and Gordon, Timothy and Jacobson, Bengt and Jonasson, Mats},

title={An Optimal Path Controller Minimizing Longitudinal and Lateral Deviations after Light Collisions},

booktitle={Proceedings of 16th International IEEE Conference on Intelligent Transportation Systems, Hague, The Netherlands, Oct 6-9, 2013. },

isbn={978-147992914-6},

pages={899-904},

abstract={This paper considers the problem of path control for a road vehicle immediately after it is disturbed by an initial light collision. Assuming that the driver cannot adequately control the vehicle during such an event, active chassis controls such as front steering and friction brakes are applied to minimize the risk and/or severity of a secondary impact, e.g. with roadside objects. Statistics have shown that traffic accidents where a vehicle suffers more than one collision comprise about 25% of all passenger car accidents. In this paper, the crash risk for secondary collisions is formulated via a cost function and an optimal controller is developed. The cost function may penalize both longitudinal and lateral deviations from the point of initial impact, and is assumed here to be a time-integrated quadratic function of position. For closed-loop implementation this is further approximated using a simple terminal velocity cost, the direction of which represents predicted locations of maximum risklharm. A six-state quasi-linear path controller is developed using nonlinear optimal control theory. Example cases are presented, verifying approximate equivalency between cost functions and satisfactory control performance compared with independent open-loop numerical optimizations.},

year={2013},

}

** RefWorks **

RT Conference Proceedings

SR Electronic

ID 192147

A1 Yang, Derong

A1 Gordon, Timothy

A1 Jacobson, Bengt

A1 Jonasson, Mats

T1 An Optimal Path Controller Minimizing Longitudinal and Lateral Deviations after Light Collisions

YR 2013

T2 Proceedings of 16th International IEEE Conference on Intelligent Transportation Systems, Hague, The Netherlands, Oct 6-9, 2013.

SN 978-147992914-6

SP 899

OP 904

AB This paper considers the problem of path control for a road vehicle immediately after it is disturbed by an initial light collision. Assuming that the driver cannot adequately control the vehicle during such an event, active chassis controls such as front steering and friction brakes are applied to minimize the risk and/or severity of a secondary impact, e.g. with roadside objects. Statistics have shown that traffic accidents where a vehicle suffers more than one collision comprise about 25% of all passenger car accidents. In this paper, the crash risk for secondary collisions is formulated via a cost function and an optimal controller is developed. The cost function may penalize both longitudinal and lateral deviations from the point of initial impact, and is assumed here to be a time-integrated quadratic function of position. For closed-loop implementation this is further approximated using a simple terminal velocity cost, the direction of which represents predicted locations of maximum risklharm. A six-state quasi-linear path controller is developed using nonlinear optimal control theory. Example cases are presented, verifying approximate equivalency between cost functions and satisfactory control performance compared with independent open-loop numerical optimizations.

LA eng

DO 10.1109/ITSC.2013.6728346

LK http://dx.doi.org/10.1109/ITSC.2013.6728346

OL 30