Authors:
Manuel Acosta
;
Stratis Kanarachos
and
Michael E. Fitzpatrick
Affiliation:
Coventry University, United Kingdom
Keyword(s):
Agile Maneuvering, Linear Quadratic Regulator, Drift Control, Motion Planning, ADAS.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Vehicle Control Applications
Abstract:
This paper presents a novel Hybrid Hierarchical Autonomous system for improving vehicle safety based on
agile maneuvering and drift control on loose surfaces. Standard Electronic Stability Control Systems provide
stability by limiting the vehicle body slip, thus reducing the capability of the vehicle to generate lateral acceleration
and follow road segments and paths with high curvature on loose surfaces. The proposed system
overcomes this shortcoming. Furthermore, it is the first time where a solution for arbitrary road geometries is
proposed. The system described in this work consists of three layers. The first layer selects the driver model.
The second layer selects the path to be followed and the maneuver type using a Proportional controller and
motion planning strategies. The third layer coordinates the steering and driving functions of the vehicle to perform
the maneuver, where a Gain-Scheduled Linear Quadratic Regulator is employed to achieve drift control.
The hybrid system i
s implemented in Matlab/Simulink R
and tested in two scenarios: First, a Rally-like stage
formed by a combination of clothoid and arc segments is used to study the drift-path-following capabilities of
the system, and lastly, a lateral collision case is proposed to evaluate the suitability of the system as an ADAS
Co-Pilot system for lateral collision avoidance.
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