| 1. |
- Kharrazi, Sogol, 1980, et al.
(författare)
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Implementation of active steering on longer combination vehicles for enhanced lateral performance
- 2012
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Ingår i: Vehicle System Dynamics. - : Informa UK Limited. - 1744-5159 .- 0042-3114. ; 50:12, s. 1949-1970
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Tidskriftsartikel (refereegranskat)abstract
- A steering-based controller for improving lateral performance of longer combination vehicles (LCVs) is proposed. The controller steers the axles of the towed units to regulate the time span between the driver steering and generation of tyre lateral forces at the towed units and consequently reduces the yaw rate rearward amplification (RWA) and offtracking. The open-loop effectiveness of the controller is evaluated with simulations and its closed loop or driver in the loop effectiveness is verified on a test track with a truck-dolly-semitrailer test vehicle in a series of single-and double-lane change manoeuvres. The developed controller reduces the yaw rate RWA and offtracking considerably without diminishing the manoeuvrability. Furthermore, as a byproduct, it decreases the lateral acceleration RWA moderately. The obtained safety improvements by the proposed controller can promote the use of LCVs in traffic which will result in the reduction of congestion problem as well as environmental and economic benefits.
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| 2. |
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| 3. |
- Ardeshiri, Tohid, 1980, et al.
(författare)
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Sensor Fusion for Vehicle Positioning in Intersection Active Safety Applications
- 2006
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Ingår i: 8th International Symposium on Advanced Vehicle Control. - 9860059470
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- Global Positioning System (GPS) is being increasingly used in active safety applications. One field of active safety in which navigation information can be used is Intersection Active Safety Applications (IASA) which requires a precise and continuous estimate of vehicle position and heading direction to function properly. In this paper an implementation of Extended Kalman Filter for estimation of vehicle position and heading direction in an intersection active safety application is presented. The algorithm was tested on a complex urban trajectory of 2 km long and showed very encouraging results.
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| 4. |
- Arikere, Adithya, 1987, et al.
(författare)
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Integrated evasive manoeuvre assist for collision mitigation with oncoming vehicles
- 2018
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Ingår i: Vehicle System Dynamics. - : Informa UK Limited. - 1744-5159 .- 0042-3114. ; 56:10, s. 1577-1603
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Tidskriftsartikel (refereegranskat)abstract
- Development and deployment of steering based collision avoidance systems are made difficult due to the complexity of dealing with oncoming vehicles during the evasive manoeuvre. A method to mitigate the collision risk with oncoming vehicles during such manoeuvres is presented in this work. A point mass analysis of such a scenario is first done to determine the importance of speed for mitigating the collision risk with the oncoming vehicle. A characteristic parameter was identified, which correlates well with the need to increase or decrease speed, in order to reduce the collision risk. This finding was then verified in experiments using a Volvo XC90 test vehicle. A closed-loop longitudinal acceleration controller for collision mitigation with oncoming vehicles is then presented. The longitudinal control is combined with yaw stability control using control allocation to form an integrated controller. Simulations in CarMaker using a validated XC90 vehicle model and the proposed controller showed consistent reductions in the collision risk with the oncoming vehicle.
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| 5. |
- Arikere, Adithya, 1987, et al.
(författare)
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On the Potential of Accelerating an Electrified Lead Vehicle to Mitigate Rear-End Collisions
- 2015
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Ingår i: Proceedings of the 3rd International Symposium on Future Active Safety Technology Towards zero traffic accidents, 2015. ; , s. 377-384
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Konferensbidrag (refereegranskat)abstract
- This paper analyzes the potential safety benefit from autonomous acceleration of an electrified lead vehicle to mitigate or prevent being struck from behind. Safety benefit was estimated based on the expected reduction in relative velocity at impact in combination with injury risk curves. Potential issues and safety concerns with the operation and implementation of such a system in the real world are discussed from an engineering and human factors stand point. In particular, the effect of the pre-collision acceleration in reducing whiplash injury risk due to change in head posture and reduction of crash severity is also discussed. In general, this study found that autonomously accelerating an electrified lead vehicle can mitigate and prevent rear-end collisions and significantly increase the safety benefits from existing systems such as autonomous emergency braking.
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| 6. |
- Arikere, Adithya, 1987, et al.
(författare)
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Speed control for reduced risk of collision with oncoming vehicles in obstacle avoidance scenarios
- 2016
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Ingår i: Proceedings of the 13th International Symposium on Advanced Vehicle Control (AVEC’ 16), Munich, Germany, 13–16. - 9781138029927 ; , s. 37-42
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Konferensbidrag (refereegranskat)abstract
- When a driver performs an evasive steering manoeuvre in order to avoid an obstacle, there is an increased risk of collisions with oncoming vehicles in the adjacent lane. A controller to reduce this risk of secondary collision by regulating the vehicle speed is designed and implemented. Simulations are preformed in IPG CarMaker with the new Volvo XC90 vehicle model and performance of the controller are compared with more conventional lateral stability controllers and unassisted manoeuvres. While lateral control can be of benefit in some cases, it can hurt in others. When combined with speed control however, consistent reductions in risk of secondary collisions are seen and in cases involving large velocity ratios or long obstacles, large reductions are observed.
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| 7. |
- Arikere, Adithya, 1987, et al.
(författare)
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The Potential Safety Benefit of Propulsion in Obstacle Avoidance Manoeuvres with Oncoming Traffic
- 2014
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Ingår i: 12th International Symposium on Advanced Vehicle Control (AVEC '14), Tokyo Japan. ; , s. 126-131
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Konferensbidrag (refereegranskat)abstract
- The obstacle avoidance manoeuvre with oncoming traffic scenario is analysed. The possibility of using propulsion, specifically from electric motors, to reduce the risk of collision with oncoming traffic is investigated. Analysis is done using a point mass and a two track vehicle model in anoptimal control framework. It is found that propulsion can be of help in reducing the collision risk in such scenarios for a certain set of manoeuvre parameters.
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| 8. |
- Arikere, Adithya, 1987, et al.
(författare)
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The trade-off between distance margin and steering intrusiveness in obstacle avoidance manoeuvres with oncoming traffic
- 2016
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Ingår i: 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015; Graz; Austria; 17 August 2015 through 21 August 2015. - : CRC Press. ; , s. 243-252
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Konferensbidrag (refereegranskat)abstract
- In this paper, the trade-off achieved between distance margin and steering intrusiveness in the obstacle avoidance manoeuvre with oncoming traffic scenario using different actuator sets is investigated. Investigation is first done using an optimal control framework to estimate the maximum benefit that can be achieved using the actuator sets. Next, closed loop controllers are used in simulation to estimate the benefit that can be obtained when the actuators are used for lateral control alone. It is found that for manoeuvres characterized by long obstacles and/or large bullet vehicle speeds relative to that of the host vehicle, torque vectoring can significantly reduce the risk of collision with an oncoming vehicle when compared to differential braking alone. It is found that it is beneficial to be able to perform safety interventions in this scenario with as little impact on the vehicle speed as possible which can be done by using a torque vectoring system.
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| 9. |
- Berbyuk, Viktor, 1953, et al.
(författare)
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Time-optimal control of semi-passively actuated closed-loop chain robots
- 2002
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Ingår i: Proceedings of the 33rd ISR (International Symposium on Robotics), October 7-11, 2002, Stockholm, Sweden, 2002. ; , s. 221-226
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Konferensbidrag (refereegranskat)abstract
- The controlled motions of a new structure of closed-loop chain robots with different degrees and types of actuation are under the study. An optimization approach has been used to investigate the advantages of using overactuation and unpowered spring-damper-like drives for the robots performing pick-and-place operations. Solution of several variants of a time-optimal control problem has been obtained for considered semi-passively actuated robots. Emphasis is put on the study of interaction between the controlling stimuli of powered drives and the torques exerted by unpowered drives needed to provide time-optimal motion of fully actuated and overactuated robots. Analysis of simulation results has shown that the quickness of the robots performing pick-and-place operations can be considerably increased due to overactuation and optimal dynamic interaction between powered and unpowered drives. Obtained results can be used for optimization of performance of robotic systems.
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| 10. |
- Chen, W., et al.
(författare)
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Design and control of the steering torque feedback in a vehicle driving simulator
- 2018
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Ingår i: The Dynamics of Vehicles on Roads and Tracks. ; 1, s. 213-220
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Konferensbidrag (refereegranskat)abstract
- Vehicle driving simulators allow engineers to evaluate subjectively the virtual prototype in early concept phase. Steering torque feedback as one of the basic haptic cues is usually provided by a servo motor through a force feedback system. The artificial feedback torque calculated from the vehicle model and sent to the servo motor is distorted by this interface. In this paper, it is investigated how the force feedback system dynamics influences the artificial steering feedback. To mask the dynamics of the force feedback system a feedforward compensation method based on the steering states has been proposed when driver is in the loop.
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