Closed-loop Controller for Post-Impact Vehicle Dynamics Using Individual Wheel Braking and Front Axle Steering
Paper in proceedings, 2012
This paper presents a vehicle path controller for
reducing the maximum lateral deviation (Ymax) after an initial
impact in a traffic accident. In previous research, a quasilinear
optimal controller (QLOC) was proposed and applied to a
simple vehicle model with individually controlled brake actuators.
QLOC uses nonlinear optimal control theory to provide a semiexplicit
approximation for optimal post impact path control, and
in principle can be applied to an arbitrary number of actuators.
The current work extends and further validates the control
method by analyzing the effects of adding an active front axle
steering actuator, as well as increasing the fidelity of the vehicle
model. As expected, performance with respect to Ymax can be
improved by the additional actuator, though the extent of the
improvement is found to depend on the post-impact kinematic
states. The applicability of QLOC is confirmed by comparison
with new results from open-loop numerical optimization.