In the present paper, an Evasive Manoeuvre Assist (EMA) function is designed to adapt to different types of drivers, by an optimised steering torque overlay. The existing EMA function amplifies the driver steering inputs using a feed-forward controller which might not necessarily help an over-reactive driver. There exists a need for an EMA which adapts to different drivers as it minimises the risk of collision and gives the driver an experience of good control. The focus of this paper is to identify and define a proper steering sequence reference model for closed-loop feedback control design. A simple single-point preview model is designed first to calculate the reference steering angle. A few test scenarios are set-up using the IPG CarMaker\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$^\text {TM}$$\end{document}simulation tool. The reference model is then calibrated with respect to the amplitude and frequency of the steering sequence by offline optimisation to obtain the optimal steering profile. A feedback controller is then designed using this reference model. The robustness of the function is verified in real-time, using a Volvo rapid-prototype test vehicle.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Adapted Evasive Manoeuvre Assist Function for Over-Reactive and Under-Reactive Drivers


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Klomp, Matthijs (Herausgeber:in) / Bruzelius, Fredrik (Herausgeber:in) / Nielsen, Jens (Herausgeber:in) / Hillemyr, Angela (Herausgeber:in) / Harinath, Preetham (Autor:in) / Kittane, Santusht Vasuki (Autor:in) / Yang, Derong (Autor:in) / Drugge, Lars (Autor:in) / Jonasson, Mats (Autor:in)

    Kongress:

    The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2019 ; Gothenburg, Sweden August 12, 2019 - August 16, 2019



    Erscheinungsdatum :

    13.02.2020


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    An Adapted Evasive Manoeuvre Assist Function for Over-Reactive and Under-Reactive Drivers

    Harinath, Preetham / Kittane, Santusht Vasuki / Yang, Derong et al. | TIBKAT | 2020


    A Nonlinear Model Predictive Control Based Evasive Manoeuvre Assist Function

    van Lookeren Campagne, Gijs / Yang, Derong | Springer Verlag | 2022


    Integrated evasive manoeuvre assist for collision mitigation with oncoming vehicles

    Arikere, Adithya / Yang, Derong / Klomp, Matthijs et al. | Taylor & Francis Verlag | 2018


    METHOD AND SYSTEM FOR PROVIDING A DRIVER BEHAVIOUR ADAPTED EVASIVE MANOEUVRE

    JONASSON MATS / SILVLIN JONATAN / YANG DERONG | Europäisches Patentamt | 2016

    Freier Zugriff

    Gravity-Assist Manoeuvre

    Rauschenbakh, Boris V. / Ovchinnikov, Michael Yu. / McKenna-Lawlor, Susan | Springer Verlag | 2003