Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC

A driver steering assistance control algorithm for a vehicle with an active front steering system is proposed in this paper. The control algorithm is designed so as to optimize turning performance and realize collision avoidance simultaneously under magnitude constraints on the front wheel turn angl...

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Autores principales:	Nobutaka WADA, Takuya MATSUMOTO
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2020
Materias:	vehicle control active front steering collision avoidance yaw rate control model predictive control Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/1244053113e54e799ed78f919e510b75
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id	oai:doaj.org-article:1244053113e54e799ed78f919e510b75
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spelling	oai:doaj.org-article:1244053113e54e799ed78f919e510b752021-11-29T06:04:29ZDriver steering assistance for collision avoidance and turning performance optimization by constrained MPC2187-974510.1299/mej.20-00361https://doaj.org/article/1244053113e54e799ed78f919e510b752020-12-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/8/1/8_20-00361/_pdf/-char/enhttps://doaj.org/toc/2187-9745A driver steering assistance control algorithm for a vehicle with an active front steering system is proposed in this paper. The control algorithm is designed so as to optimize turning performance and realize collision avoidance simultaneously under magnitude constraints on the front wheel turn angle and the lateral tire force. The control algorithm is developed based on a model predictive control law for tracking a time-varying reference signal. The proposed control algorithm is reduced to a convex quadratic programming problem. The effectiveness of the proposed method is shown by human-in-the-loop simulations.Nobutaka WADATakuya MATSUMOTOThe Japan Society of Mechanical Engineersarticlevehicle controlactive front steeringcollision avoidanceyaw rate controlmodel predictive controlMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 8, Iss 1, Pp 20-00361-20-00361 (2020)
institution	DOAJ
collection	DOAJ
language	EN
topic	vehicle control active front steering collision avoidance yaw rate control model predictive control Mechanical engineering and machinery TJ1-1570
spellingShingle	vehicle control active front steering collision avoidance yaw rate control model predictive control Mechanical engineering and machinery TJ1-1570 Nobutaka WADA Takuya MATSUMOTO Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC
description	A driver steering assistance control algorithm for a vehicle with an active front steering system is proposed in this paper. The control algorithm is designed so as to optimize turning performance and realize collision avoidance simultaneously under magnitude constraints on the front wheel turn angle and the lateral tire force. The control algorithm is developed based on a model predictive control law for tracking a time-varying reference signal. The proposed control algorithm is reduced to a convex quadratic programming problem. The effectiveness of the proposed method is shown by human-in-the-loop simulations.
format	article
author	Nobutaka WADA Takuya MATSUMOTO
author_facet	Nobutaka WADA Takuya MATSUMOTO
author_sort	Nobutaka WADA
title	Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC
title_short	Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC
title_full	Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC
title_fullStr	Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC
title_full_unstemmed	Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC
title_sort	driver steering assistance for collision avoidance and turning performance optimization by constrained mpc
publisher	The Japan Society of Mechanical Engineers
publishDate	2020
url	https://doaj.org/article/1244053113e54e799ed78f919e510b75
work_keys_str_mv	AT nobutakawada driversteeringassistanceforcollisionavoidanceandturningperformanceoptimizationbyconstrainedmpc AT takuyamatsumoto driversteeringassistanceforcollisionavoidanceandturningperformanceoptimizationbyconstrainedmpc
_version_	1718407569207197696

Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC

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