Hybrid architecture for vehicle lateral collision avoidance

• Published in: IET control theory & applications Vol. 12; no. 14; pp. 1941 - 1950
• Main Authors: Ariola, Marco, De Tommasi, Gianmaria, Tartaglione, Gaetano, Amato, Francesco
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 24.09.2018
• Subjects: automata theory; collision avoidance; control engineering computing; control system; control system synthesis; feedback; ground vehicles; hybrid architecture; hybrid automata; H∞ approach; H∞ control; input–output finite‐time stability approach; maximum error; measured vehicle lateral displacement; motion control; nominal trajectory; position control; Research Article; road vehicles; safe set; single vehicle; stability; state feedback; state‐feedback controller; steering systems; trajectory control; two‐wheel vehicle subject; vehicle dynamics; vehicle lateral collision avoidance; wheels; yaw‐lateral motion; wheels; collision avoidance; yaw-lateral motion; hybrid architecture; automata theory; hybrid automata; steering systems; feedback; motion control; road vehicles; H∞ control; state-feedback controller; H∞ approach; trajectory control; position control; control system; control engineering computing; ground vehicles; stability; safe set; nominal trajectory; measured vehicle lateral displacement; single vehicle; maximum error; control system synthesis; vehicle dynamics; input–output finite-time stability approach; two-wheel vehicle subject; vehicle lateral collision avoidance; state feedback
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2017.1387

In this study, the authors consider the problem of collision avoidance of ground vehicles. In this framework, they focus on a single vehicle, and they guarantee that a given safe set is not exited during a mission. More specifically, they consider the yaw-lateral motion of a two-wheel vehicle subject to a side wind, and they design a state-feedback controller such that the vehicle follows the nominal trajectory with a given maximum error. For these purposes, they resort to a control system where a supervisor, implemented as a hybrid automata, decides to switch between two controllers, depending on the measured vehicle lateral displacement from the nominal trajectory. The two controllers are designed using an $\mathcal {H}_\infty $H∞ approach and the input–output finite-time stability approach, respectively. Some simulation results are included, showing the effectiveness of the proposed architecture.