Phuman Singh, Amrik Singh and Nishihara, Osamu (2017) Trajectory Generation and Tracking Using Integrated Control of 4WS and DYC for Minimum Jerk Obstacle Avoidance. In: Future Active Safety Technology toward zero traffic accidents, FAST-zero ’17, 18 September 2017, Nara, Japan.
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Abstract
This paper studies collision avoidance using lane change maneuvers with the minimum time average of time integral of the squared resultant jerk. The study is limited to a single lane change maneuver with the assumption that moving into the adjacent lane is feasible. The collision-free trajectory is generated using quintic polynomials. The friction constraint is considered, and the trajectory can be generated after an equation with longitudinal avoidance distance as the unknown is solved numerically. This trajectory is tracked using integration of 4WS sliding mode control and direct yaw-moment control (DYC). The sliding mode controller tracks the path using centers of percussion with respect to rear and front wheels as a pair of representative points. The optimum direct yaw moment is obtained using a tire force distributor that minimizes the maximum tire workload. The simulation results demonstrate the effectiveness of the integrated controller in tracking the reference trajectory and keeping the maximum tire workload lower than the friction limit.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | collision avoidance, friction circle, integrated chassis control, sliding mode control, tire workload |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics |
| Divisions: | Faculty of Mechanical Engineering |
| Depositing User: | En. Amrik Singh Phuman Singh |
| Date Deposited: | 19 Nov 2020 03:32 |
| Last Modified: | 19 Nov 2020 03:32 |
| URI: | http://eprints.utem.edu.my/id/eprint/24374 |
| Statistic Details: | View Download Statistic |
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