Closed-loop controller for post-impact vehicle dynamics using individual wheel braking and front axle steering

摘要

This paper presents a vehicle path controller for reducing the maximum lateral deviation (Ymax) after an initial impact in a traffic accident. In previous research, a Quasi-Linear Optimal Controller (QLOC) was proposed and applied to a simple vehicle model with individually controlled brake actuators. QLOC uses non-linear optimal control theory to provide a semiexplicit approximation for optimal post-impact path control, and in principle can be applied to an arbitrary number of actuators. The current work extends and further validates the control method by analysing the effects of adding an active front axle steering actuator at different post-impact kinematics, as well as increasing the fidelity of the vehicle model in the closed-loop controlled system. The controller performance is compared with the results from open-loop numerical optimisation which uses the same vehicle model. The inherent robustness properties of the QLOC algorithm are demonstrated by its direct application to an independent high-fidelity multi-body vehicle model. Towards real-time implementation, the algorithm is further simplified so that the computational efficiency is enhanced, whereas the performance is shown not to be degraded.