Lateral Driving Envelope Protection Using Cascade Control

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Lateral Driving Envelope Protection Using Cascade Control

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Lateral Driving Envelope Protection Using Cascade Control

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of 21st International Conference on Control, Automation and Systems

ISBN

978-89-93215-21-2

ISSN

1598-7833

e-ISSN

2642-3901

Počet stran výsledku

7

Strana od-do

1440-1446

Název nakladatele

IEEE Computer Society

Místo vydání

USA

Místo konání akce

Jeju

Datum konání akce

12. 10. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000750950700190