A Comparison of Multiple Control Strategies for Vehicle Run-Off-Road and Return
A Comparison of Multiple Control Strategies for Vehicle Run-Off-Road and Return
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DOI：
10.1109/tvt.2014.2329264
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发表时间：
2015-03
影响因子：
6.8
通讯作者：
P. Freeman;Matthew J. Jensen;J. Wagner;K. Alexander
中科院分区：
文献类型：
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作者：
P. Freeman;Matthew J. Jensen;J. Wagner;K. Alexander
很大一部分的单车车祸涉及一种被称为“脱离道路”（ROR）的情况，即车辆离开道路并在邻近道路的表面上行驶。目前的解决方案，如道路基础设施改造和车辆安全系统，有助于减轻一些ROR事件，但在他们的方法仍然有限。一个完整的解决方案还必须直接解决导致ROR崩溃的主要因素，即驱动程序性能错误。本文开发了四种基于滑动（SL）控制、线性二次（LQ）控制、状态流和经典理论的车辆安全控制系统，以在无需驾驶员干预的情况下自动从ROR中恢复车辆。车辆响应模拟各种常见的道路出发和返回的情况下，每个控制器。结果表明，LQ和SL控制方法优于其他控制器的整体稳定性。然而，LQ控制器是唯一的设计，以安全地恢复车辆在所有的模拟条件下检查。平均而言，它比SL控制器的改出速度快近50%，横向误差小40%，但以较高的偏航角速度为代价。
A large percentage of single-vehicle automobile crashes involve a situation called run-off-road (ROR) where the vehicle leaves the roadway and travels on the surfaces adjacent to the road. Present solutions such as roadway infrastructure modifications and vehicle safety systems have helped to mitigate some ROR events but remain limited in their approach. A complete solution must also directly address the primary factor contributing to ROR crashes, which is driver performance errors. In this paper, four vehicle safety control systems, based on sliding (SL) control, linear quadratic (LQ), state flow, and classical theories, were developed to autonomously recover a vehicle from ROR without driver intervention. The vehicle response was simulated for each controller under a variety of common road departure and return scenarios. The results showed that the LQ and SL control methodologies outperformed the other controllers in terms of overall stability. However, the LQ controller was the only design to safely recover the vehicle in all of the simulation conditions examined. On average, it performed the recovery almost 50% faster and with 40% less lateral error than the SL controller at the expense of higher yaw rates.