0

Full Content is available to subscribers

Subscribe/Learn More  >

Coordinated Control of Active Steering and Differential Braking Using Extended Command Governor for Rollover Avoidance

[+] Author Affiliations
Ran Tian, Ricardo Bencatel, Anouck Girard, Ilya Kolmanovsky

University of Michigan, Ann Arbor, MI

Paper No. DSCC2017-5033, pp. V001T45A001; 10 pages
doi:10.1115/DSCC2017-5033
From:
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5827-1
  • Copyright © 2017 by ASME

abstract

This paper develops an Extended Command Governor (ECG) for coordinated control of active steering and differential braking to prevent a vehicle from rolling over when undergoing aggressive maneuvers. The ECG modifies commands to well-designed closed-loop systems when necessary to prevent constraint violations. In this paper, the ECG is applied to a nonlinear vehicle model to maintain the vehicle in a safe state. For rollover avoidance, the ECG is designed to intervene and modify the driver’s input steering and braking commands when it predicts these signals may be unsafe and cause violation of the Load Transfer Ratio constraint. Simulation results show that the ECG can successfully detect and correct the unsafe commands to prevent constraint violation. Moreover, the ECG also behaves less conservatively than a previous design that used active steering control only. Specifically, the ECG described in this work allows the vehicle trajectory to stay closer to the desired trajectory.

Copyright © 2017 by ASME
Topics: Governors , Braking

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In