Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Unified Control of Independent Braking and Steering Using Optimal Control Allocation Methods for Collision Avoidance

전(全)방향 충돌 회피를 위한 액츄에이터 최적 분배 알고리즘

  • Kim, Kyuwon (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Beomjun (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Yi, Kyongsu (School of Mechanical and Aerospace Engineering, Seoul National University)
  • Received : 2013.11.05
  • Accepted : 2013.12.20
  • Published : 2013.12.31
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Abstract

This paper presents a unified control algorithm of independent braking and steering for collision avoidance. The desired motion of the vehicle in the yaw plane is determined using the probabilistic risk assessment method based on target state estimation. For the purpose of coordinating the independent braking and steering, a non-linear vehicle model has been developed, which describes the vehicle dynamics in the yaw plane in both linear and extended non-linear ranges of handling. A control allocation algorithm determines the control inputs that minimize the difference between the desired and actual vehicle motions, while satisfying all actuator constraints. The performance of the proposed control algorithm has been investigated via computer simulations conducted using the vehicle dynamics software CARSIM and Matlab/Simulink.

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