What is it about?
This study aims to investigate the switching model predictive control (SMPC) strategy to coordinate actuator between active rear steering and differential braking control maneuvers for emergency thread avoidance in an inclement environment of heavy vehicle system. We present the controller performances under disturbances of gust of wind, road bank angle, and mu-split on sudden thread to enable a fast, safe lane trajectory. We performed the vehicle at middle and high forward speeds in order to investigate the effectiveness of the proposed approach to avoid the thread, maintain stability, and enable a fast safe, lane change trajectory.
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Why is it important?
we propose the SMPC technique for stabilizing the vehicle under the thread avoidance scenario with the switching technique to 1) avoid an obstacle in an emergency maneuver, 2) follow the safe trajectory closely, and 3) improve the heavy truck vehicle stability and maneuverability. We compare the performance ability of the two different controllers in terms of lateral displacement/lane change, and yaw rate
Perspectives
The results showed that the vehicle stability, driver handling, and maneuverability, can be improved through switching MPC. Emergency braking of the front vehicle due to obstacles appearing suddenly without warning can be avoided, and collisions can be avoided, through the proposed method, by minimizing the lateral position tracking error for heavy vehicles. The simulation outcome also proved that the proposed control scheme is successfully implemented for vehicle steering maneuvers, even under mu-split and gust of wind effects, to the lateral and yaw motions.
Dr Fitri Yakub
Universiti Teknologi Malaysia
Read the Original
This page is a summary of: Enhancing the yaw stability and the manoeuvrability of a heavy vehicle in difficult scenarios by an emergency threat avoidance manoeuvre, Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering, July 2016, SAGE Publications,
DOI: 10.1177/0954407016658808.
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