A curving ACC system with coordination control of longitudinal car-following and lateral stability

摘要

The paper presents a curving adaptive cruise control (ACC) system that is coordinated with a direct yaw-moment control (DYC) system and gives consideration to both longitudinal car-following capability and lateral stability on curved roads. A model including vehicle longitudinal and lateral dynamics is built first, which is as discrete as the predictive model of the system controller. Then, a cost function is determined to reflect the contradictions between vehicle longitudinal and lateral dynamics. Meanwhile, some I/O constraints are formulated with a driver permissible longitudinal car-following range and the road adhesion condition. After that, desired longitudinal acceleration and desired yaw moment are obtained by a linear matrix inequality based robust constrained state feedback method. Finally, driver-in-the-loop tests on a driving simulator are conducted and the results show that the developed control system provides significant benefits in weakening the impact of DYC on ACC longitudinal car-following capability while also improving lateral stability.View full textDownload full textKeywordsadaptive cruise control, direct yaw-moment control, longitudinal car-following capability, lateral stability, coordinationRelated var addthis_config = { ui_cobrand: "Taylor & Francis Online", services_compact: "citeulike,netvibes,twitter,technorati,delicious,linkedin,facebook,stumbleupon,digg,google,more", pubid: "ra-4dff56cd6bb1830b" }; var addthis_config = {"data_track_addressbar":true,"ui_click":true}; Add to shortlist Link Permalink http://dx.doi.org/10.1080/00423114.2012.656654