CPL - Chalmers Publication Library
| Utbildning | Forskning | Styrkeområden | Om Chalmers | In English In English Ej inloggad.

Combining Coordination of Motion Actuators with Driver Steering Interaction

Kristoffer Tagesson (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system) ; Leo Laine (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system) ; Bengt Jacobson (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system)
Traffic Injury Prevention (1538-9588). Vol. 16 (2015), Supp 1, p. 18-24.
[Artikel, refereegranskad vetenskaplig]

Objective: A new method is suggested for coordination of vehicle motion actuators; where driver feedback and capabilities become natural elements in the prioritization.

Methods: The method is using a weighted least squares control allocation formulation, where driver characteristics can be added as virtual force constraints. The approach is in particular suitable for heavy commercial vehicles that in general are over actuated. The method is applied, in a specific use case, by running a simulation of a truck applying automatic braking on a split friction surface. Here the required driver steering angle, to maintain the intended direction, is limited by a constant threshold. This constant is automatically accounted for when balancing actuator usage in the method.

Results: Simulation results show that the actual required driver steering angle can be expected to match the set constant well. Furthermore, the stopping distance is very much affected by this set capability of the driver to handle the lateral disturbance, as expected.

Conclusion: In general the capability of the driver to handle disturbances should be estimated in real-time, considering driver mental state. By using the method it will then be possible to estimate e.g. stopping distance implied from this. The setup has the potential of even shortening the stopping distance, when the driver is estimated as active, this compared to currently available systems. The approach is feasible for real-time applications and requires only measurable vehicle quantities for parameterization. Examples of other suitable applications in scope of the method would be electronic stability control, lateral stability control at launch and optimal cornering arbitration.

Nyckelord: actuator coordination , AEBS , control allocation , driver interaction , heavy commercial vehicles , split friction, actuator coordination



Den här publikationen ingår i följande styrkeområden:

Läs mer om Chalmers styrkeområden  

Denna post skapades 2015-06-10. Senast ändrad 2016-08-18.
CPL Pubid: 218156

 

Läs direkt!

Lokal fulltext (fritt tillgänglig)

Länk till annan sajt (kan kräva inloggning)


Institutioner (Chalmers)

Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system

Ämnesområden

Transport
Farkostteknik

Chalmers infrastruktur