MODIFIED HAMILTONIAN ALGORITHM FOR OPTIMAL LANE CHANGE WITH APPLICATION TO COLLISION AVOIDANCE

Abstract

This paper deals with collision avoidance for road vehicles when operating at the limits of available friction. For collision avoidance, a typical control approach is to: (a) define a reference geometric path that avoids collision; (b) apply low-level control to perform path following. However, there are a number of limitations in this approach, which are addressed in the current paper. First, it is typically unknown whether a pre-defined reference path is feasible or over-conservative. Secondly, the control scheme is not well suited to avoiding a moving object, e.g. another vehicle. Further: incorrect choice of reference path may degrade performance, fast adaptation to friction change is not easy to implement and the associated low-level control allocation may be computationally intensive.In this paper we use the general nonlinear optimal control formulation, include some simplifying assumptions and base optimal control on the minimization of an underlying Hamiltonian function. A particle model is used to define an initial reference in the form of a desired global mass-center acceleration vector. Beyond that, yaw moment is taken into account for the purpose of enhancing the stability of the vehicle. The Hamiltonian function is adapted as a linear function of tyre forces and can be minimized locally for individual wheels; this significantly reduces computational workload compared to the conventional approach of forcemoment allocation. Several combinations of actuators are studied to show the general applicability of the control algorithm based on a linear Hamiltonian function. The method has the potential to be used in future vehicle control systems across a wide range of safety applications and hence improve overall vehicle agility and improve safety.

Recommended articles

ACTIVE VIBRATION CONTROL FOR A FREE PISTON STIRLING ENGINE GENERATOR USING A VOICE COIL ACTUATOR

ALI HASSAN, ANGEL TORRES-PEREZ, STEFAN KACZMARCZYK, PHIL PICTON
Keywords: type stirling engine | active vibration damping | linear quadratic control | feedback-feedforward with zero-placement | voice coil actuator | electrical current control | effect of time delays

EVALUATION OF HARDNESS CURVES OF MULTILAYER WELDS OF CREEP RESISTANT STEEL 1.6946 USING SAW METHOD TO THE “ULTRA” NARROW GAP

LUKAS HOLUB, JIRI DUNOVSKY, JAN SUCHANEK
Keywords: submerge arc welding | narrow gap | low alloysteel | hardness HV10 | turbine | ro

MODEL-BASED SYSTEM ASSESSMENT OF THERMOELECTRIC ENERGY HARVESTING FROM THE EXHAUST GAS PIPE OF OIL-FIRED HEATINGS

MARCO NESARAJAH, FELIX FELGNER, AND GEORG FREY
Keywords: thermoelectric generator | oil-fired heating | energy harvesting | system assessment | Modelica®

ROTOR DESIGN AND OPTIMIZATION OF SYNCHRONOUS RELUCTANCE MACHINE

JAN BARTA, CESTMIR ONDRUSEK
Keywords: synchronous reluctance machine | transverse-laminate rotor | electromagnetic model | finete element analysis | optimization | torque ripple