Lateral Driving Envelope Protection Using Cascade Control
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353569" target="_blank" >RIV/68407700:21230/21:00353569 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.23919/ICCAS52745.2021.9650058" target="_blank" >http://dx.doi.org/10.23919/ICCAS52745.2021.9650058</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.23919/ICCAS52745.2021.9650058" target="_blank" >10.23919/ICCAS52745.2021.9650058</a>
Alternative languages
Result language
angličtina
Original language name
Lateral Driving Envelope Protection Using Cascade Control
Original language description
The steer-by-wire technology opens a possibility to create new advanced driver assistant systems. This work proposes a control structure that keeps the lateral vehicle dynamics in predefined stability boundaries and prevents the dominant sliding motion. We intentionally employed a cascade control law design suited for embedded platforms, often with low computational capacity. The proposed control hierarchical architecture is heavily inspired by aerospace domain solution, the flight envelope protection algorithms, which are still used in modern civil aircraft. The vehicle lateral acceleration is selected as the control system reference signal, commanded by a driver. The controller tracks such reference signal while respecting the driving envelope and vehicle operation safety limits. Several driving experiments were conducted to evaluate the proposed control structure in the statistical sense. The comparison with solution based on model predictive control framework and baseline vehicle without any assistance system is presented. Performed experiments were evaluated based on objective vehicle performance, like lap time and a number of collisions, combined with a human driver’s subjective evaluation. Experiments clearly show the incoherence of results and biased of skilled drivers. The objectively better vehicle performance, faster lap time with fewer collisions, received a lower subjective evaluation from experienced drivers used to current driving style.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
—
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 21st International Conference on Control, Automation and Systems
ISBN
978-89-93215-21-2
ISSN
1598-7833
e-ISSN
2642-3901
Number of pages
7
Pages from-to
1440-1446
Publisher name
IEEE Computer Society
Place of publication
USA
Event location
Jeju
Event date
Oct 12, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000750950700190