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...
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28 Feb 2018
TL;DR: Utilizing a hardware-in-the-loop simulation test rig of electronic pneumatic braking system, the experiment results show that the control method can improve the braking performance of vehicle.
Abstract: Brake by wire that allows a number of braking functions exists on commercial vehicles under the name electronic pneumatic braking system, which can improve braking comfort and safety of commercial ...
13 citations
TL;DR: The results showed that the proposed varying time headway improved the RECAA by activating the host vehicle's brake system at different time instants based on the type of lead vehicle and thereby preventing the unintended early brake intervention of RECAS.
13 citations
TL;DR: In this paper, a direct yaw moment controller/anti-lock braking system (DYC/ABS) coordinated cornering brake control scheme is proposed for three-axle vehicles to improve the handling performance while shortening the brake distance.
Abstract: A direct yaw moment controller/anti-lock braking system (DYC/ABS) coordinated cornering brake control scheme is proposed for three-axle vehicles to improve the handling performance while shortening the brake distance. A proportional–integral method is designed in DYC control. The cornering stiffness of the two-degrees of freedom vehicle model is fitted in real time. The Dugoff tire model is used to establish the relationship between the yaw moment and wheel slip ratio; an optimal allocation method is proposed to allocate the force requirements to each tire. To verify the effect, vehicle responses under various speeds and turning radii are analysed with DYC/ABS coordinated control, ABS control, and no control based on co-simulation of TruckSim and MATLAB/Simulink. According to the chattering caused by sliding mode control, two sliding mode controllers using saturation function and modified exponential reaching law are, respectively, designed to obtain the braking moment in ABS control. A pneumatic braking hardware-in-loop (HIL) test system is developed; the effectiveness of the strategy is verified by experiments. The results show that the coordinated control can reduce lateral acceleration, brake distance, and brake time when the vehicle runs under cornering brake; thus has an excellent effect on balancing the handling stability and braking safety.
12 citations
26 Jun 2018
TL;DR: It was found that Iatency had a counterbalancing effect on vehicle spacing and relative longitudinal speed that led to insignificant changes in the final spacing that demonstrated the need of a variable time headway.
Abstract: Active safety is of utmost importance in heavy road vehicles due to the relatively higher number of fatalities encountered in their accidents. Vehicle-to-Vehicle (V2V) technology, which is seen as a future of connected vehicles, can potentially complement onboard sensing to reduce the time taken for detection, and to plan the path with the information available from road side units (RSU). This paper investigates the effect of Iatency in (V2V) communication on a collision avoidance algorithm developed for heavy road vehicles. Experiments performed on a Hardware-in-Loop (HiL) setup were used to evaluate the effect of Iatency for various scenarios. It was found that Iatency had a counterbalancing effect on vehicle spacing and relative longitudinal speed that led to insignificant changes in the final spacing. Further, a sensitivity analysis done at different host vehicle longitudinal speeds demonstrated the need of a variable time headway.
8 citations
Cites background or methods from "Design and Hardware-In-Loop Impleme..."
...In this paper, the Collision Avoidance Algorithm (CAA) presented in [13] was evaluated with communication latency and analyzed in a HiL setup with and without V2V communication latency....
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...This was equated to that of a critically damped second order system to avoid oscillations [13]....
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TL;DR: In this paper, a learning control method for a vehicle platooning system using a deep deterministic policy gradient (DDPG)-based PID is proposed, which can adapt to different road and vehicular platooning acceleration and deceleration conditions.
Abstract: Cooperative adaptive cruise control (CACC) has important significance for the development of the connected and automated vehicle (CAV) industry. The traditional proportional integral derivative (PID) platoon controller adjustment is not only time-consuming and laborious, but also unable to adapt to different working conditions. This paper proposes a learning control method for a vehicle platooning system using a deep deterministic policy gradient (DDPG)-based PID. The main contribution of this study is automating the PID weight tuning process by formulating this objective as a deep reinforcement learning (DRL) problem. The longitudinal control of the vehicle platooning is divided into upper and lower control structures. The upper-level controller based on the DDPG algorithm can adjust the current PID controller parameters. Through offline training and learning in a SUMO simulation software environment, the PID controller can adapt to different road and vehicular platooning acceleration and deceleration conditions. The lower-level controller controls the gas/brake pedal to accurately track the desired acceleration and speed. Based on the hardware-in-the-loop (HIL) simulation platform, the results show that in terms of the maximum speed error, for the DDPG-based PID controller this is 0.02–0.08 m/s less than for the conventional PID controller, with a maximum reduction of 5.48%. In addition, the maximum distance error of the DDPG-based PID controller is 0.77 m, which is 14.44% less than that of the conventional PID controller.
5 citations
References
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TL;DR: The errable driver model used in this paper is a model that emulates human driver's functions and can generate both nominal (error-free) and devious (with error) behaviours, which was used to evaluate the performance of several existing CW/CA algorithms.
Abstract: Collision warning/collision avoidance (CW/CA) systems must be designed to work seamlessly with a human driver, providing warning or control actions when the driver's response (or lack of) is deemed inappropriate. The effectiveness of CW/CA systems working with a human driver needs to be evaluated thoroughly because of legal/liability and other (e.g. traffic flow) concerns. CW/CA systems tuned only under open-loop manoeuvres were frequently found to work unsatisfactorily with human-in-the-loop. However, tuning CW/CA systems with human drivers co-existing is slow and non-repeatable. Driver models, if constructed and used properly, can capture human/control interactions and accelerate the CW/CA development process. Design and evaluation methods for CW/CA algorithms can be categorised into three approaches, scenario-based, performance-based and human-centred. The strength and weakness of these approaches were discussed in this paper and a humanised errable driver model was introduced to improve the developing...
55 citations
"Design and Hardware-In-Loop Impleme..." refers methods in this paper
...[21,23–26] Evaluation and comparison of the CW/CA algorithms developed based on the kinematics of the vehicle were discussed in [27,28]....
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01 Jun 2005
TL;DR: In this paper, the authors analyzed speeding-related motor vehicle traffic fatal crashes using the National Highway Traffic Safety Administration's (NHTSA's) Fatality Analysis Reporting System (FARS).
Abstract: This study analyzes speeding-related motor vehicle traffic fatal crashes using the National Highway Traffic Safety Administration's (NHTSA's) Fatality Analysis Reporting System (FARS). Of interest are characteristics of drivers that are speeding as well as the extent of this problem in the states. The analysis is presented along major categories of interest that are likely to affect speeding like environmental, behavioral and vehicle-related factors. A separate section discusses the extent of speeding-related crashes by state.
52 citations
"Design and Hardware-In-Loop Impleme..." refers background in this paper
...[4] Statistics from the NHTSA show that nearly one-third of total road accident fatalities were due to over speeding (driving too fast for existing road conditions regardless of the posted speed limit, or exceeding the posted speed limit).[5,6] In India, even though the registered heavy commercial road vehicles (HCVs) account for 5....
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01 Jan 1999
TL;DR: The second edition of IRRD 883633 has been revised and updated to cover newer brake technology, including anti-lock braking systems (ABS), braking by wire, and the mechanical and thermal analysis of disk brakes as mentioned in this paper.
Abstract: This second edition (for first edition see IRRD 883633) has been revised and updated to cover newer brake technology, including anti-lock braking systems (ABS), braking by wire, and the mechanical and thermal analysis of disk brakes. Chapters cover elements of braking performance, design and safety, design and analysis of friction brakes, thermal analysis of friction brakes, analysis of mechanical brake systems, analysis of hydraulic brake systems, analysis of air brake systems, single vehicle braking dynamics, braking dynamics of combination vehicles, anti-lock brake systems (ABS) and analysis of brake failure.
47 citations
01 Aug 2009
TL;DR: In this paper, a multi-sensor signal fusion method is used to predict the road friction coefficient for a steering manoeuvre without braking; if active braking is involved, simplified models of the braking pressure and tyre force are adopted to predict road friction c...
Abstract: The contact friction characteristic between a tyre and the road is a key factor that dominates the dynamics performance of a vehicle under critical conditions. Vehicle dynamics control systems, such as anti-lock braking systems, traction control systems, and electronic stability control systems (e.g. Elektronisches Stabilitats Programm (ESP)), need an accurate road friction coefficient to adjust the control mode. No time delay in the estimation of road friction should be allowed, thereby avoiding the disappearance of the optimal control point. A comprehensive method to predict the road friction is suggested on the basis of the sensor fusion method, which is suitable for variations in the vehicle dynamics characteristics and the control modes. The multi-sensor signal fusion method is used to predict the road friction coefficient for a steering manoeuvre without braking; if active braking is involved, simplified models of the braking pressure and tyre force are adopted to predict the road friction c...
41 citations
TL;DR: In this paper, a sliding mode braking force observer is introduced to support a sliding-mode controller for air-braked heavy vehicles, and the performance of the observer is examined through simulations and field testing of an articulated heavy vehicle.
Abstract: Current research into reducing actuator delays in pneumatic brake systems is opening the door for advanced anti-lock braking algorithms to be used on heavy goods vehicles. However, these algorithms require the knowledge of variables that are impractical to measure directly. This paper introduces a sliding mode braking force observer to support a sliding mode controller for air-braked heavy vehicles. The performance of the observer is examined through simulations and field testing of an articulated heavy vehicle. The observer operated robustly during single-wheel vehicle simulations, and provided reasonable estimates of surface friction from test data. The effect of brake gain errors on the controller and observer are illustrated, and a recursive least squares estimator is derived for the brake gain. The estimator converged within 0.3 s in simulations and vehicle trials.
40 citations