Feasibility Analysis of Steering Control in Collisions as a Driver-Assistance or an Automated Function Ching-Yao Chan, Han-Shue Tan 1999 PATH Annual Meeting October 14-15, 1999, Richmond, California. Presentation Outlines.
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Feasibility Analysis of Steering Control in Collisions as a Driver-Assistance or an Automated FunctionChing-Yao Chan, Han-Shue Tan1999 PATH Annual MeetingOctober 14-15, 1999, Richmond, California
1. Background2. Problem Descriptions3. Modeling, Analysis and Controller Design4. Cases Studies of Lane-Tracking Control5. Concluding Remarks
Feasibility of applying steering control in vehicle- following collisions
The following questions are posed to judge the effectiveness of steering control in the defined collision scenarios:
Average impact force Fi can be approximated by
is the velocity difference of either vehicle before and after the impact, and
is the impact duration,
Since only the scenario of the vehicle following collision is studied in this paper, qi, the angle of Dvi with respect to the original vehicle traveling direction is usually small. Therefore, one can approximate
where di is the moment arm from the impact point to the vehicle CG
Schematic diagram of the vehicle steering control system immediately after the impact phase of the collision.
The corresponding initial conditions are transferred into
where ys is the vehicle lateral displacement at the distance L, the look-ahead distance, in front of the vehicle CG. The look-ahead displacement ys is also the input to the controller G(s).
Modified schematic diagram of the corresponding steering control problem
For most passenger cars, control gains (G) of 0.01-0.2 and Look-ahead (L) of 5-20 meters are satisfactory
Operating Conditions• Limitations in capacity and operating environment• Evaluation of consequences in unfavorable traffic conditions•Identification of proper conditions for control deploymentEquipment Requirements• Crash worthiness and structural integrity of steering mechanism• Steering actuator specifications• System activation by environment identification and crash triggering• Position and orientation sensing for feedback controlSensing Information for Feedback Control• Integrity in a collision• Backup strategies and information reconstruction alternatives