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Predictive Vehicle Motion Control for Post-Crash Scenarios
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0002-9165-1495
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0002-7177-0702
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. KTH, School of Engineering Sciences (SCI), Applied Physics, Biomedical and X-ray Physics. KTH, School of Industrial Engineering and Management (ITM), Centres, Integrated Transport Research Lab, ITRL.ORCID iD: 0000-0002-3672-5316
The Goodyear Rubber & Tire Company.ORCID iD: 0000-0001-9942-5209
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2018 (English)Conference paper, Oral presentation only (Refereed)
Abstract [en]

This paper presents an active safety system for passenger vehicles designed to mitigate secondary collisions after an initial impact. Thecontrol objective is to minimize lateral deviation from the known original path while achieving a safe heading angle after the initialcollision. A hierarchical controller architecture is proposed: the higher layer is formulated as a linear time-varying model predictivecontroller that defines the virtual control moment input; the lower layer deploys a rule-based controller that realizes the requestedmoment. The designed control system is tested and validated on a high-fidelity vehicle dynamics simulator.

Place, publisher, year, edition, pages
2018.
Keywords [en]
Vehicle Motion Control, Multiple Event Accidents, Secondary Collision Mitigation, Linear Time Varying Model Predictive Control, Torque Vectoring, Sliding Mode Control, Vehicle Dynamics and Chassis Control, Advanced Driver Assistant Systems
National Category
Control Engineering
Research subject
Electrical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-235948OAI: oai:DiVA.org:kth-235948DiVA, id: diva2:1270123
Conference
14th International Symposium on Advanced Vehicle Control, AVEC'18
Note

QC 20181214

Available from: 2018-12-12 Created: 2018-12-12 Last updated: 2018-12-14Bibliographically approved

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fulltext(1114 kB)22 downloads
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Nigicser, DavidValerio, TurriMårtensson, Jonas

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CiteExportLink to record
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