Hybrid architecture for vehicle lateral collision avoidance
- Author(s): Marco Ariola 1 ; Gianmaria De Tommasi 2 ; Gaetano Tartaglione 1 ; Francesco Amato 3
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View affiliations
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Affiliations:
1:
Dipartimento di Ingegneria , Università di Napoli Parthenope , Centro Direzionale di Napoli, Isola C4, 80143 Napoli , Italy ;
2: Dipartimento di Ingegneria Elettrica e delle Tecnologie dell'Informazione , Università degli Studi di Napoli Federico II , Via Claudio 21, 80125 Napoli , Italy ;
3: School of Computer and Biomedical Engineering , Università degli Studi Magna Græcia di Catanzaro , Campus di Germaneto ‘Salvatore Venuta’, 88100 Catanzaro , Italy
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Affiliations:
1:
Dipartimento di Ingegneria , Università di Napoli Parthenope , Centro Direzionale di Napoli, Isola C4, 80143 Napoli , Italy ;
- Source:
Volume 12, Issue 14,
24
September
2018,
p.
1941 – 1950
DOI: 10.1049/iet-cta.2017.1387 , Print ISSN 1751-8644, Online ISSN 1751-8652
In this study, the authors consider the problem of collision avoidance of ground vehicles. In this framework, they focus on a single vehicle, and they guarantee that a given safe set is not exited during a mission. More specifically, they consider the yaw-lateral motion of a two-wheel vehicle subject to a side wind, and they design a state-feedback controller such that the vehicle follows the nominal trajectory with a given maximum error. For these purposes, they resort to a control system where a supervisor, implemented as a hybrid automata, decides to switch between two controllers, depending on the measured vehicle lateral displacement from the nominal trajectory. The two controllers are designed using an approach and the input–output finite-time stability approach, respectively. Some simulation results are included, showing the effectiveness of the proposed architecture.
Inspec keywords: H∞ control; stability; collision avoidance; feedback; control system synthesis; automata theory; vehicle dynamics; position control; control engineering computing; wheels; state feedback; steering systems; road vehicles; trajectory control; motion control
Other keywords: H∞ approach; hybrid architecture; single vehicle; input–output finite-time stability approach; hybrid automata; state-feedback controller; vehicle lateral collision avoidance; nominal trajectory; control system; two-wheel vehicle subject; measured vehicle lateral displacement; maximum error; safe set; yaw-lateral motion; ground vehicles
Subjects: Vehicle mechanics; Road-traffic system control; Stability in control theory; Optimal control; Control system analysis and synthesis methods; Automata theory; Spatial variables control; Control engineering computing
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