Constrained LPV control for collision avoidance using mixed steering and differential braking

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-12-20 DOI:10.1016/j.conengprac.2024.106214

Anh-Lam Do, François Fauvel

引用次数: 0

Abstract

This paper presents an LPV approach for mixed control of steering and differential braking of an automotive vehicle, under constraints. The mixed controller is used to improve the performance and robustness of the Advanced Evasive Steering system (an Active Safety ADAS) in emergency situations. First, the path-following problem is formulated in a generic LPV (Linear Parameter Varying) framework taking into account the vehicle speed and the actuators’ amplitude and rate constraints. Then, a simple and robust LPV state-feedback is optimized using LMI (Linear Matrix Inequality) technique. Experimental results obtained from various driving scenarios validate the effectiveness of this approach. Furthermore, the simplicity and low tuning effort required for implementing the proposed controller on conventional automotive Electronic Control Units (ECUs) make it highly advantageous for practical implementation.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.