Four wheel optimal autonomous steering for improving safety in emergency collision avoidance manoeuvres
Four wheel optimal autonomous steering for improving safety in emergency collision avoidance manoeuvres
复制标题
DOI：
10.1109/amc.2014.6823309
复制
发表时间：
2014-03
期刊：
影响因子：
--
通讯作者：
M. Galvani;F. Biral;B. Nguyen;H. Fujimoto
中科院分区：
文献类型：
--
作者：
M. Galvani;F. Biral;B. Nguyen;H. Fujimoto
这项工作的目的是证明基于最优控制运动规划的自主防撞机动可以提高安全裕度并可以充分利用车辆动力学。我们特别分析了传统两轮转向车辆 (2WS) 与四轮转向车辆 (4WS) 在转向避让操作中的性能。我们展示了如何使用 4WS 来提高车辆的机动性，与传统的 2WS 车辆相比，它可以更晚地避开障碍物。还提出了一种具有新颖功能的控制算法来自动跟踪优化的操纵，并已在 4WS 电动汽车上成功进行了测试。
The objective of this work is to demonstrate that autonomous collision avoidance manoeuvres based on optimal control motion planning improve the safety margins and can fully exploit the vehicle dynamics. In particular we analyse the performance of a traditional two-wheel-steering vehicle (2WS) versus a four-wheel-steering vehicle (4WS) in steer-to-avoid manoeuvres. We show how the vehicle manoeuvrability is improved using 4WS that allows to avoid an obstacle quite later with respect to the traditional 2WS vehicle. A control algorithm with novel features is also proposed to autonomously track the optimised manoeuvres, which has been successfully tested on a 4WS electric vehicle.