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Related Concept Videos

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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Combining coordination of motion actuators with driver steering interaction.

Kristoffer Tagesson1, Leo Laine, Bengt Jacobson

  • 1a Division of Vehicle Engineering & Autonomous Systems , Chalmers University of Technology , Göteborg , Sweden.

Traffic Injury Prevention
|June 2, 2015
PubMed
Summary

A new control method integrates driver capabilities into vehicle actuator prioritization. This approach, suitable for heavy trucks, optimizes braking by considering driver steering limits, potentially reducing stopping distances.

Keywords:
AEBSactuator coordinationcontrol allocationdriver interactionheavy commercial vehiclessplit friction

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Area of Science:

  • Automotive Engineering
  • Control Systems
  • Human Factors in Transportation

Background:

  • Heavy commercial vehicles are often over-actuated, presenting complex control challenges.
  • Existing systems may not fully leverage real-time driver capabilities for enhanced safety.

Purpose of the Study:

  • To introduce a novel method for coordinating vehicle motion actuators.
  • To naturally incorporate driver feedback and capabilities into actuator prioritization for improved vehicle control.

Main Methods:

  • Utilizes a weighted least squares control allocation formulation with driver characteristics as virtual force constraints.
  • Applies the method to a simulated truck braking scenario on a split friction surface, incorporating a driver steering angle threshold.

Main Results:

  • Simulation demonstrated that the actual driver steering angle closely matched the predefined threshold.
  • Driver's ability to manage lateral disturbance significantly impacted stopping distance, as anticipated.

Conclusions:

  • Real-time estimation of driver disturbance handling capability, considering mental state, is crucial.
  • The proposed method can estimate implied stopping distances and potentially shorten them for active drivers.
  • The approach is feasible for real-time application, applicable to electronic stability control and cornering arbitration.