Driver assisted control strategies: Theory and experiment

Mark DePoorter; Sean Brennan; Andrew Alleyne

doi:10.1115/IMECE1998-0321

Driver assisted control strategies: Theory and experiment

Mark DePoorter
, Sean Brennan
, Andrew Alleyne

Administration (CSENG)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

This work investigates the use of feedback controller augmentation of driver inputs to achieve a desired vehicle performance. The vehicle performance is specified as a Reference Model. The driver maintains nominal control of the vehicle by direct actuation of the front steering inputs. The controller then determines the appropriate rear steer inputs necessary for tracking the reference model. As a consequence the driver is able to specify, within limits, the type of handling behavior required of the vehicle. A strategy based on yaw rate control is presented. An appropriate vehicle model is developed and a polynomial pole placement technique is used to control the vehicle. To account for vehicle model changes due to variations in forward velocity, a continuous time Recursive Least Squares approach is examined for on-line identification and adaptive control. The strategy and control designs are implemented experimentally on the Illinois Roadway Simulator (IRS), a scale vehicle testbed for vehicle dynamics and controls. Results and limitations are discussed.

Original language	English (US)
Title of host publication	Dynamic Systems and Control
Publisher	American Society of Mechanical Engineers (ASME)
Pages	721-728
Number of pages	8
ISBN (Electronic)	9780791815861
DOIs	https://doi.org/10.1115/IMECE1998-0321
State	Published - 1998
Event	Proceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition - Anaheim, CA, USA Duration: Nov 15 1998 → Nov 20 1998

Publication series

Name	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume	1998-I

Other

Other	Proceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition
City	Anaheim, CA, USA
Period	11/15/98 → 11/20/98

Bibliographical note

Publisher Copyright:
© 1998 American Society of Mechanical Engineers (ASME). All rights reserved.

Publisher link

10.1115/IMECE1998-0321

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Driver assisted control strategies: Theory and experiment. / DePoorter, Mark; Brennan, Sean; Alleyne, Andrew.
Dynamic Systems and Control. American Society of Mechanical Engineers (ASME), 1998. p. 721-728 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 1998-I).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

DePoorter, M, Brennan, S & Alleyne, A 1998, Driver assisted control strategies: Theory and experiment. in Dynamic Systems and Control. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 1998-I, American Society of Mechanical Engineers (ASME), pp. 721-728, Proceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, USA, 11/15/98. https://doi.org/10.1115/IMECE1998-0321

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abstract = "This work investigates the use of feedback controller augmentation of driver inputs to achieve a desired vehicle performance. The vehicle performance is specified as a Reference Model. The driver maintains nominal control of the vehicle by direct actuation of the front steering inputs. The controller then determines the appropriate rear steer inputs necessary for tracking the reference model. As a consequence the driver is able to specify, within limits, the type of handling behavior required of the vehicle. A strategy based on yaw rate control is presented. An appropriate vehicle model is developed and a polynomial pole placement technique is used to control the vehicle. To account for vehicle model changes due to variations in forward velocity, a continuous time Recursive Least Squares approach is examined for on-line identification and adaptive control. The strategy and control designs are implemented experimentally on the Illinois Roadway Simulator (IRS), a scale vehicle testbed for vehicle dynamics and controls. Results and limitations are discussed.",

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AB - This work investigates the use of feedback controller augmentation of driver inputs to achieve a desired vehicle performance. The vehicle performance is specified as a Reference Model. The driver maintains nominal control of the vehicle by direct actuation of the front steering inputs. The controller then determines the appropriate rear steer inputs necessary for tracking the reference model. As a consequence the driver is able to specify, within limits, the type of handling behavior required of the vehicle. A strategy based on yaw rate control is presented. An appropriate vehicle model is developed and a polynomial pole placement technique is used to control the vehicle. To account for vehicle model changes due to variations in forward velocity, a continuous time Recursive Least Squares approach is examined for on-line identification and adaptive control. The strategy and control designs are implemented experimentally on the Illinois Roadway Simulator (IRS), a scale vehicle testbed for vehicle dynamics and controls. Results and limitations are discussed.

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Driver assisted control strategies: Theory and experiment

Abstract

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