Predictive Driver Interpreter by using Inverse Model for Heavy Vehicles
Paper in proceedings, 2010
This paper evaluates predictive control and necessary time horizon for heavy vehicle's active safety functionality by using an inverse model as predictor. The predictive driver interpreter provides the anticipating signals for limiting the forward velocity which can guarantee a manoeuvre's safe realization without loss of control. It has been integrated in a control allocation structure. The controller has been tested for an open-loop avoidance manoeuvre which is given by a sine with dwell steering input. Simulations showed for the studied manoeuvre and truck configuration that the passive vehicle is stable up to amplitude of 105 deg of steering wheel angle. When no predictive horizon was applied in the control allocation, the amplitude could be increased to 150 deg. When a predictive horizon of 1.5 s was used the amplitude could be doubled and still be stable.