Path and speed control of a heavy vehicle for collision avoidance manoeuvres
Paper i proceeding, 2012

In an emergency situation prior to an imminent accident, first in-vehicle warning systems would intervene and aim to make the driver to take a suitable action. If the risk of accident was not eliminated, then an autonomous collision avoidance manoeuvre can prevent it. In this work, path and speed control are intended to be used to perform such a manoeuvre by using steering and braking actuators respectively. In order to provide actuators with suitable control inputs, first a path is planned for the heavy vehicle to follow during the manoeuvre. Then the path is used to calculate feedforward control inputs whereas a feedback controller assures the path tracking by compensating for errors. As a result, a robust path planning and control algorithm is designed and implemented that can perform autonomous collision avoidance manoeuvres for a heavy vehicle. Promising simulation results support ongoing works on vehicle demonstration and experiments on a real heavy vehicle.

Författare

Morteza Hassanzadeh Siyahpoush

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

Mathias R Lidberg

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

M. Keshavarz

Volvo

L. Bjelkeflo

Volvo

Intelligent Vehicles Symposium (IV), 2012 IEEE. Alcalá de Henares, Spain, 3-7 June 2012

1931-0587 (ISSN)

129-134

Ämneskategorier

Farkostteknik

Robotteknik och automation

Reglerteknik

DOI

10.1109/IVS.2012.6232254

ISBN

978-146732119-8