Autonomous collision avoidance by lane change maneuvers using integrated chassis control for road vehicles /
Although road vehicles are an essential means of transportation, a significant number of lives have been claimed by road accidents. Vehicle control systems, such as electronic stability control systems, have been effective in avoiding collisions by stabilizing the vehicle and thereby preventing unde...
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| Format: | Software eBook |
| Language: | English |
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2019.
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| LEADER | 06651pam a2200421 i 4500 | ||
|---|---|---|---|
| 001 | 115193 | ||
| 003 | UTeM | ||
| 005 | 20191008130309.0 | ||
| 007 | co ag ||||| | ||
| 008 | 190913s2019 ja ||||| |||| 00| | eng d | ||
| 999 | |c 115193 |d 115193 | ||
| 020 | |c gift | ||
| 040 | |a UTeM |b eng |c UTeM |e rda | ||
| 090 | 0 | 0 | |a TL259 |b .A47 2019 |
| 100 | 0 | |a Amrik Singh Phuman Sing, |e author. |9 9063 | |
| 245 | 1 | 0 | |a Autonomous collision avoidance by lane change maneuvers using integrated chassis control for road vehicles / |c Amrik Singh Phuman Sing. |
| 264 | 1 | |c 2019. | |
| 300 | |a xv, 146 pages : |b some colour illustrations, charts, photographs ; |c 30 cm + |e 1 computer disc (12 cm) | ||
| 336 | |a text |2 rdacontent | ||
| 336 | |a still image |2 rdacontent | ||
| 337 | |2 rdamedia |a unmediated | ||
| 338 | |2 rdacarrier |a volume | ||
| 347 | |2 rda |a text file |b PDF |c 24.6 MB | ||
| 500 | |a Accompanied by CD : CDR 19548. | ||
| 504 | |a Bibliography : pages 145-146. | ||
| 520 | |a Although road vehicles are an essential means of transportation, a significant number of lives have been claimed by road accidents. Vehicle control systems, such as electronic stability control systems, have been effective in avoiding collisions by stabilizing the vehicle and thereby preventing understeering and oversteering. However, in these systems, the human driver is still required to perform the steering and braking actions to avoid a collision. In emergency situations, the human driver may fail to react to a threat, and even if the driver does react, he or she may saturate the steering and braking inputs in performing an avoidance maneuver. In such situations, the vehicle is expected to autonomously perform an avoidance maneuver. One such emergency situation occurs when a vehicle encounters an obstacle in its current lane. This dissertation focused on the incorporation of autonomous lane change maneuvers with the friction constraint to avoid an obstacle encountered in the current lane. In a friction-limiting situation, it is important to determine the best combination of steering and braking inputs that can achieve the shortest longitudinal distance to the obstacle during an avoidance maneuver. To achieve the minimum longitudinal avoidance distance, the obstacle avoidance problem is formulated as an optimal control problem. A single dimensionless equation with one unknown is then derived to provide a solution to this problem. This equation characterizes the optimal state feedback control. Because this equation can be solved using a one-dimensional root finding method, such as the bisection method, a fast computation of the control inputs is expected. The nondimensionalized equations for the braking, steering, and steering with braking avoidance maneuvers provide useful insights into the collision avoidance problem. The benefit of braking in addition to steering during the changing of lanes was made clearer by the two-dimensional decision making diagram presented in this dissertation. Based on the optimal control theory, another dimensionless equation with one unknown was derived to provide a solution to the minimum resultant vehicle force problem with a specified longitudinal distance to the obstacle. Once this equation is solved using the bisection method, the desired longitudinal and lateral vehicle forces could be readily calculated. These desired forces were allocated to the longitudinal and lateral tire forces using the minimax optimization of the tire workload for a four-wheel steering (4WS) and four- wheel independent driving/braking distribution. The simulation results demonstrated the effectiveness of the controller in achieving collision avoidance, including those cases in which there was a change in the situation after the avoidance maneuver had been initiated. These results also demonstrated the capability of the obstacle avoidance controller together with the tire force distributor in achieving near optimal paths. The lane change maneuver for the emergency obstacle avoidance can result in a high jerk, which may be harmful to the driver and passengers. A trajectory generation method was developed that considered the friction constraint and minimized the time integral of the squared resultant vehicle jerk during the maneuver. The desired lateral accelerations at the centres of percussion and the desired longitudinal force to track the desired trajectory were obtained by using the sliding mode control method. These desired lateral accelerations and longitudinal force were then translated into the front and rear wheel steering angles and direct yaw moment. Numerical simulations demonstrated the effectiveness of the integration of the 4WS control and direct yaw moment control in simultaneously achieving trajectory tracking and vehicle stabilization. The optimal allocation of tire forces by maintaining equal usage of force by the tires has received considerable attention. The purpose of maintaining an equal usage of force by the tires is to avoid a situation where a tire is under a higher force usage condition than the remaining tires. An algebraic solution was derived and investigated for the allocation of tire force with a workload equalization for a 4WS and four-wheel independent driving/braking distribution. The limit performance of a vehicle with a minimum common tire workload was evaluated and discussed. The regions on a longitudinal-lateral acceleration plane in which there were no solutions to the workload equalization were identified. This study found that when the total yaw moment is zero, the tire force allocation with the minimum common tire workload among the four tires is always achievable and the limit performance is similar to that obtained using the minimax optimization of the tire workload. The collision avoidance methods proposed in this dissertation were effective in avoiding collisions and in keeping the vehicle stable while operating near its limit of friction. | ||
| 650 | 0 | |a Automobiles |x Brakes. |9 187 | |
| 650 | 0 | |a Automobiles |x Steering-gear. |9 6569 | |
| 650 | 0 | |a Automobiles |x Wheels |x Alignment. |9 7649 | |
| 710 | 2 | |a University Kyoto, |e issuing body. |9 9064 | |
| 790 | |a School of Informatics (Systems Science) | ||
| 791 | |a Doctor of Informatics | ||
| 792 | |a 2019 | ||
| 942 | |2 lcc |c THP - A |k a | ||
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| 952 | |0 0 |1 0 |2 lcc |4 0 |6 CDR19548 |7 0 |9 142197 |a MEDIA |b MEDIA |c 5 |d 2019-09-13 |o CDR 19548 |p 87502852 |r 2019-09-13 |w 2019-09-13 |y CDR - MEA | ||