Driver Models for a Vehicle Avoidance Maneuver in Cornering

This paper presents driver models for a vehicle avoidance maneuver in cornering. The models are based on a preview driver model which has either a compensation control or a pursuit control. The preview point is detected by a variation of the present radius which is equivalent to a third-order predic...

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Bibliographic Details
Published inTransactions of the Japan Society of Mechanical Engineers Series C Vol. 72; no. 720; pp. 2360 - 2365
Main Authors HARADA, Masanori, NAGATOMO, Tsunenori, MITANI, Yoshihiro, YOSHIMOTO, Kenichi
Format Journal Article
LanguageJapanese
Published The Japan Society of Mechanical Engineers 25.08.2006
Subjects
Automobile
Avoidance Maneuver
Cornering
Human Engineering
Optimal Control
Preview Driver Model
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Summary:This paper presents driver models for a vehicle avoidance maneuver in cornering. The models are based on a preview driver model which has either a compensation control or a pursuit control. The preview point is detected by a variation of the present radius which is equivalent to a third-order prediction model, including a centrifugal jerk. The unknown control gains in the models are determined by an optimization program based on a Legendre pseudospectral method. A second-order prediction model, commonly used in cornering analysis, is compared to numerical examples. For the compensation model, the Proportional-Integral (PI) control results in a steering angle with two distinct behavior clearly : 1) steady-state cornering due to the Integral (I) control and 2) transient response due to the Proportional (P) control. The pursuit control has a sufficient response when the steering angle for the steady-state cornering is provided via feed-forward control, even if the P control is used for the compensator.
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.72.2360