Design and Hardware-In-Loop Implementation of Collision Avoidance Algorithms for Heavy Commercial Road Vehicles
TL;DR: In this paper, a collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort.
Abstract: An important aspect from the perspective of operational safety of heavy road vehicles is the detection and avoidance of collisions, particularly at high speeds. The development of a collision avoidance system is the overall focus of the research presented in this paper. The collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort. Important dynamic characteristics such as load transfer during braking, tyre-road interaction, dynamic brake force distribution and pneumatic brake system response were considered. The effect of aerodynamic drag on the controller performance was also studied. The developed control algorithms have been implemented on a Hardware-in-Loop experimental set-up equipped with the vehicle dynamic simulation software, IPG/TruckMaker®. The evaluation has been performed for realistic traffic scenarios with different loading and road conditions. The Ha...
Cites background or methods from "Design and Hardware-In-Loop Impleme..."
...In this paper, the Collision Avoidance Algorithm (CAA) presented in  was evaluated with communication latency and analyzed in a HiL setup with and without V2V communication latency....
...This was equated to that of a critically damped second order system to avoid oscillations ....
Cites background from "Design and Hardware-In-Loop Impleme..."
...As autonomous vehicles enter public roads, they must be capable of not only normal driving but also maneuvers to avoid accidents [1-7]....
"Design and Hardware-In-Loop Impleme..." refers background in this paper
...It was found from literature that W can be estimated with the accuracy of ±5%. It was assumed that μmax can be estimated with an accuracy of ±20%,[58–61] H and L1 can be estimated with an accuracy of ±10%....
"Design and Hardware-In-Loop Impleme..." refers methods in this paper
... A similar approach has been followed by Gietelink et al. for ACC....