Heavy vehicle collision avoidance control in heterogeneous traffic using varying time headway
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.
About: This article is published in Mechatronics.The article was published on 2017-12-01. It has received 13 citations till now. The article focuses on the topics: Collision avoidance system & Collision avoidance.
Citations
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TL;DR: A novel reference signal for the ACC system is proposed which guarantees passenger's safety in various system initial states by adding initialization factors in the inter-distance policy, considering both relative distance and initialization speed of the host and front vehicles.
13 citations
TL;DR: The simulation results show that the vehicle equipped with the active fault tolerant ACC system can still drive safely and smoothly without being affected by radar sensor failures, which demonstrates its great significance to improve vehicle’s own intelligence and ensure the safe driving instead of relying entirely on sensors.
Abstract: Vehicle-borne millimeter wave radar sensor may malfunction during signal acquisition and transmission process, which will affect the decision of adaptive cruise control (ACC) system and the safe driving of vehicles. However, adding other redundant environment-aware devices will increases costs. Therefore, in this paper, an active fault tolerant control of ACC system considering vehicle-borne millimeter wave radar sensor failure is proposed. Sensor faults are taken as discrete events, and the mixed logical dynamical (MLD) model of ACC upper control system is built which includes both the fault-free dynamics and the fault dynamics of the system. Then, the active fault tolerant control model of ACC system is established based on model predictive control (MPC) framework. Compared with the existing researches, this work emphasizes on the active fault tolerant control without adding other redundant environment-aware devices, which has not been fully revealed by the existing researches and is important to the industrial application. Moreover, the active fault tolerant control method can be easily ported to other driver assistance system besides ACC. The simulation results show that the vehicle equipped with the active fault tolerant ACC system can still drive safely and smoothly without being affected by radar sensor failures, which demonstrates its great significance to improve vehicle’s own intelligence and ensure the safe driving instead of relying entirely on sensors.
11 citations
01 Jul 2021
TL;DR: A robust Proportional Integral Derivative (PID) controller using the Kharitonov theorem for pneumatic brakes is developed and found to be robust up to 100% variation in system time constant and 40% variations in time delay for different road and load conditions.
Abstract: Performance enhancement of typically sluggish pneumatic brake actuators in Heavy Commercial Road Vehicles (HCRVs) is necessary for the efficacious operation of active safety systems. This study dev...
9 citations
Additional excerpts
...Based on the above equations, the transient wheel slip (k0) defined by k0ðtÞ 1⁄4 uðtÞ rj signðVcxðtÞÞ (4)...
[...]
TL;DR: In this article, the authors developed a feedback-based linear parameter varying (LPV)/676 control paradigm for automated HCV to achieve multi-objective dynamic coordinated control, which aims at keeping vehicle centered with respect to the lane boundaries while achieving better roll stability by applying appropriate steering action.
Abstract: Modern intelligent road transportation system raises new requirements for advanced vehicle control technology of automated heavy commercial vehicle (HCV). This paper develops a novel output feedback-based linear parameter varying (LPV)/
$${{\cal H}_\infty}$$
control paradigm for automated HCV to achieve multi-objective dynamic coordinated control. The proposed control paradigm aims at keeping vehicle centered with respect to the lane boundaries while achieving better roll stability by applying appropriate steering action. The main idea is to schedule tracking performance and roll stability by adjusting steering action according to HCV rollover risk evaluated by the rollover index (RI) estimator during automatic path tracking. This novel control paradigm allows a seamless multi-objective self-scheduling control to be reached and ensures robustness and stability of the closed-loop control system. Based on Simulink & TruckSim Co-Simulation as well as hardware in loop (HIL) implementation, a comparison study between the proposed LPV/
$${{\cal H}_\infty}$$
control strategy and a classical linear time-invariant (LTI)/
$${{\cal H}_\infty}$$
controller is conducted, which confirms the effectiveness of the proposed control scheme.
1 citations
Book•
09 Oct 2020TL;DR: This research presents a probabilistic approach to solve the challenge of determining the optimal level of autonomy in Connected and Automated Vehicles (CAVs) without compromising on the quality of the vehicle.
Abstract: In recent years, the control of Connected and Automated Vehicles (CAVs) has attracted strong attention for various automotive applications. One of the important features demanded of CAVs is collision avoidance, whether it is a stationary or a moving obstacle. Due to complex traffic conditions and various vehicle dynamics, the collision avoidance system should ensure that the vehicle can avoid collision with other vehicles or obstacles in longitudinal and lateral directions simultaneously. The longitudinal collision avoidance controller can avoid or mitigate vehicle collision accidents effectively via Forward Collision Warning (FCW), Brake Assist System (BAS), and Autonomous Emergency Braking (AEB), which has been commercially applied in many new vehicles launched by automobile enterprises. But in lateral motion direction, it is necessary to determine a flexible collision avoidance path in real time in case of detecting any obstacle. Then, a path-tracking algorithm is designed to assure that the vehicle will follow the predetermined path precisely, while guaranteeing certain comfort and vehicle stability over a wide range of velocities. In recent years, the rapid development of sensor, control, and communication technology has brought both possibilities and challenges to the improvement of vehicle collision avoidance capability, so collision avoidance system still needs to be further studied based on the emerging technologies. In this book, we provide a comprehensive overview of the current collision avoidance strategies for traditional vehicles and CAVs. First, the book introduces some emergency path planning methods that can be applied in global route design and local path generation situations which are the most common scenarios in driving. A comparison is made in the path-planning problem in both timing and performance between the conventional algorithms and emergency methods. In addition, this book introduces and designs an up-to-date path-planning method based on artificial potential field methods for collision avoidance, and verifies the effectiveness of this method in complex road environment. Next, in order to accurately track the predetermined path for collision avoidance, traditional control methods, humanlike control strategies, and intelligent approaches are discussed to solve the path-tracking problem and ensure the vehicle successfully avoids the collisions. In addition, this book designs and applies robust control to solve the path-tracking problem and verify its tracking effect in different scenarios. Finally, this book introduces the basic principles and test methods of AEB system for collision avoidance of a single vehicle. Meanwhile, by taking advantage of data sharing between vehicles based on V2X (vehicle-to-vehicle or vehicle-to-infrastructure) communication, pile-up accidents in longitudinal direction are effectively avoided through cooperative motion control of multiple vehicles.
1 citations
References
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TL;DR: A new discussion of the complex branches of W, an asymptotic expansion valid for all branches, an efficient numerical procedure for evaluating the function to arbitrary precision, and a method for the symbolic integration of expressions containing W are presented.
Abstract: The LambertW function is defined to be the multivalued inverse of the functionw →we
w
. It has many applications in pure and applied mathematics, some of which are briefly described here. We present a new discussion of the complex branches ofW, an asymptotic expansion valid for all branches, an efficient numerical procedure for evaluating the function to arbitrary precision, and a method for the symbolic integration of expressions containingW.
5,591 citations
TL;DR: In this paper, an extension of sinc interpolation to algebraically decaying functions is presented, where the algebraic order of decay of a function's decay can be estimated everywhere in the horizontal strip of complex plane around the complex plane.
Abstract: An extension of sinc interpolation on $\mathbb{R}$ to the class of
algebraically decaying functions is developed in the paper. Similarly to the
classical sinc interpolation we establish two types of error estimates. First
covers a wider class of functions with the algebraic order of decay on
$\mathbb{R}$. The second type of error estimates governs the case when the
order of function's decay can be estimated everywhere in the horizontal strip
of complex plane around $\mathbb{R}$. The numerical examples are provided.
1,000 citations
Book•
01 Oct 1992
TL;DR: This book is a single source of information on all essential concepts, guidelines and design checks required for designing safer brakes.
Abstract: The objectives of this third edition of an SAE classic title are to provide readers with the basic theoretical fundamentals and analytical tools necessary to design braking systems for passenger vehicles and trucks that comply with safety standards, minimize consumer complaints, and perform safely and efficiently before and while electronic brake controls become active. This book, written for students, engineers, forensic experts, and brake technicians, provides readers with theoretical knowledge of braking physics, and offers numerous illustrations and equations that make the information easy to understand and apply. New to this edition are expanded chapters on: • Thermal analysis of automotive brakes • Analysis of hydraulic brake systems • Single vehicle braking dynamics
296 citations
09 Jun 2003
TL;DR: The range and range-rate from a single camera is discussed and the bound on the accuracy given a particular configuration is determined, which determines what steps must be made to achieve good performance.
Abstract: This paper describes a vision-based adaptive cruise control (ACC) system which uses a single camera as input. In particular, we discuss how to compute the range and range-rate from a single camera and discuss how the imaging geometry affects the range and range rate accuracy. We determine the bound on the accuracy given a particular configuration. These bounds in turn determine what steps must be made to achieve good performance. The system has been implemented on a test vehicle and driven on various highways over thousands of miles.
263 citations
Dissertation•
24 Apr 1990
TL;DR: The use of individual observers is rejected and it is considered essential to develop an objective observation and analysis method enabling a quantification of relevant characteristics of interactions with other road users or with the environment.
Abstract: Various traffic conflicts techniques at least partly use a time-related measure such as Time-To-Collision or Post-Encroachment-Time for defining the severity of traffic conflicts. However, the threshold values used appear to be mainly intuitively determined instead of based on systematic research. Highly trained observers appear to be able to operate rather consistently in detecting and classifying serious conflicts. But in the transition area between normal encounters and conflicts observer subjectivity becomes increasingly important. Because in the study the emphasis will be on a detailed analysis of road user behavior in both normal and critical situations, the use of individual observers is rejected and it is considered essential to develop an objective observation and analysis method enabling a quantification of relevant characteristics of interactions with other road users or with the environment.
260 citations