Journal ArticleDOI
Design and Hardware-In-Loop Implementation of Collision Avoidance Algorithms for Heavy Commercial Road Vehicles
Reads0
Chats0
TLDR
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...read more
Citations
More filters
Journal ArticleDOI
Heavy Road Vehicle Platoon Control Considering Brake Fade With Adaptive Mass and Road Gradient Estimation
TL;DR: In this paper , a sliding mode control (SMC) based string stable controller, which compensates for brake fade, has been designed to ensure string stability for all the considered test scenarios.
Journal ArticleDOI
Automatic Emergency Collision Avoidance of Straight-Crossing Intelligent Vehicle at a 90-Degree Intersection Based on Vehicle-to-Everything Technology
Fei Lai,Hui Yang,Chaoqun Huang +2 more
TL;DR: In this article , an automatic emergency braking (AEBBS) control strategy based on vehicle-to-everything (V2X) technology is proposed to reduce collision at a 90-degree intersection.
References
More filters
Journal ArticleDOI
Recursive least squares with forgetting for online estimation of vehicle mass and road grade: theory and experiments
TL;DR: In this article, an ad hoc modification of the update law for the gain in the recursive least square (RLS) scheme is proposed and used in simulation and experiments, demonstrating that the proposed scheme estimates mass within 5% of its actual value and tracks grade with good accuracy.
Book
Brake design and safety
TL;DR: This book is a single source of information on all essential concepts, guidelines and design checks required for designing safer brakes.
Journal ArticleDOI
Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations
TL;DR: With vehicle hardware-in-the-loop (VEHIL) simulations, the development process, and more specifically the validation phase, of intelligent vehicles is carried out safer, cheaper, and is more manageable.
Proceedings ArticleDOI
Development of a collision avoidance system
TL;DR: In this article, the analysis of a rear-end collision warning/avoidance (CW/CA) system algorithm is presented, which is designed to meet several criteria: 1. System warnings should result in a minimum load on driver attention. 2. Automatic control of the brakes should not interfere with normal driving operation.
Journal ArticleDOI
Combined longitudinal and lateral control for automated vehicle guidance
TL;DR: In this paper, an automated steering strategy based on nonlinear model predictive control is proposed to cope with the longitudinal speed tracking problem, and a simultaneous longitudinal and lateral control strategy helps to improve the combined control performance.
Related Papers (5)
Path Planning and Path Tracking for Collision Avoidance of Autonomous Ground Vehicles
Hengyang Wang,Biao Liu +1 more
Automatic collision avoidance during parking and maneuvering — An optimal control approach
Benjamin Gutjahr,Moritz Werling +1 more
Automatic collision avoidance using model-predictive online optimization
Moritz Werling,Darren Liccardo +1 more