Minimizing Vehicle Post Impact Path Lateral Deviation Using Optimized Braking and Steering Sequences
Journal article, 2014

This paper investigates the optimal control of a vehicle, after a light impact during a traffic accident. To reduce the risk of secondary events, the control target is set: to minimize the maximum lateral deviation from the initial path. In previous analysis path control was achieved by the active control of individual wheel braking. The present paper examines potential benefits from the additional control of front steering angles. Numerical optimization is used to determine optimal control sequences for both actuator configurations. It is found that steering provides significant control benefits, though not for all post-impact kinematics. For all cases considered, the optimal control operates at the boundary of the control domain of available forces and moments. This domain is expanded when steering is available, and there exists an expanded range of conditions for which coupled control of yaw moments and lateral forces is the most effective control strategy. The sensitivity of vehicle response to the individual actuator controls is studied; it reveals this sensitivity is related to the actuator bandwidth and the lack of any dynamic cost in the longitudinal direction. This motivates a further analysis which includes longitudinal and lateral dynamics in the cost function. This is broadly related to real-world crash risks. Further, different versions of such cost functions are compared as a basis for implementation in a closed-loop controller.

Braking

Steering

Vehicle dynamics

Optimal path control

Post impact

Author

Derong Yang

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

Bengt J H Jacobson

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

SAFER - Vehicle and Traffic Safety Centre

Mats Jonasson

Volvo Cars

Timothy James Gordon

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

SAFER - Vehicle and Traffic Safety Centre

International Journal of Automotive Technology

1229-9138 (ISSN)

Vol. 15 1 7-17

Areas of Advance

Transport

Subject Categories

Vehicle Engineering

DOI

10.1007/s12239-014-0002-1

More information

Latest update

10/10/2018