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The trade-off between distance margin and steering intrusiveness in obstacle avoidance manoeuvres with oncoming traffic

Adithya Arikere (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system) ; Mathias Lidberg (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system) ; Gunnar Olsson (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system)
24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015; Graz; Austria; 17 August 2015 through 21 August 2015 p. 243-252. (2015)
[Konferensbidrag, refereegranskat]

In this paper, the trade-off achieved between distance margin and steering intrusiveness in the obstacle avoidance manoeuvre with oncoming traffic scenario using different actuator sets is investigated. Investigation is first done using an optimal control framework to estimate the maximum benefit that can be achieved using the actuator sets. Next, closed loop controllers are used in simulation to estimate the benefit that can be obtained when the actuators are used for lateral control alone. It is found that for manoeuvres characterized by long obstacles and/or large bullet vehicle speeds relative to that of the host vehicle, torque vectoring can significantly reduce the risk of collision with an oncoming vehicle when compared to differential braking alone. It is found that it is beneficial to be able to perform safety interventions in this scenario with as little impact on the vehicle speed as possible which can be done by using a torque vectoring system.

Nyckelord: torque vectoring, differential braking, distance margin, steering intrusiveness, obstacle avoidance with oncoming traffic



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Denna post skapades 2015-05-18. Senast ändrad 2016-11-25.
CPL Pubid: 217155

 

Institutioner (Chalmers)

Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system

Ämnesområden

Transport
Farkostteknik

Chalmers infrastruktur

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