Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering With Sliding Mode Control Strategy
Coupled controllers are vital for safely handling vehicles, especially in critical driving situations that include changing lanes to avoid obstacles. Controllers specialized in emergencies must keep road users safe in critical situations. In this paper, we develop the coupled controller to handle ev...
| Príomhchruthaitheoirí: | , , , |
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| Formáid: | Alt |
| Teanga: | English |
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IEEE
2023-01-01
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| Sraith: | IEEE Access |
| Ábhair: | |
| Rochtain ar líne: | https://ieeexplore.ieee.org/document/10091551/ |
| _version_ | 1826938543557050368 |
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| author | Amauri Da Silva Junior Christian Birkner Reza Nakhaie Jazar Hormoz Marzbani |
| author_facet | Amauri Da Silva Junior Christian Birkner Reza Nakhaie Jazar Hormoz Marzbani |
| author_sort | Amauri Da Silva Junior |
| collection | DOAJ |
| description | Coupled controllers are vital for safely handling vehicles, especially in critical driving situations that include changing lanes to avoid obstacles. Controllers specialized in emergencies must keep road users safe in critical situations. In this paper, we develop the coupled controller to handle evasive maneuvers for an over-actuated vehicle. The controller is based on the second-order sliding mode control theory. We use the bicycle model to establish the equivalent and robust steering equations as a control-oriented model. The lateral and longitudinal vehicle motions are coupled to each other by the lateral vehicle information on the longitudinal sliding surface, and the dependence of the lateral sliding surface on the longitudinal velocity. The torque vectoring method based on fuzzy logic adjusts the yaw moment. We address the tire slip circle on the slip controller to stabilize the vehicle while maneuvering. We simulate and evaluate our controller in a rear-end collision situation with a short time window to maneuver the vehicle. The ego vehicle detects the preceding vehicle and performs an evasive lane change while simultaneously applying brakes to bring the vehicle to a halt. Our research is the earliest in providing an ultimate emergency control to successfully avoid crashes up to 130 km/h in short time crash detection. |
| first_indexed | 2024-04-09T18:42:17Z |
| format | Article |
| id | doaj.art-d67cedcf350246dd88852a4b43552089 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2025-02-17T18:58:38Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-d67cedcf350246dd88852a4b435520892024-12-11T00:00:56ZengIEEEIEEE Access2169-35362023-01-0111337923381110.1109/ACCESS.2023.326427710091551Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering With Sliding Mode Control StrategyAmauri Da Silva Junior0https://orcid.org/0000-0003-2760-9548Christian Birkner1https://orcid.org/0000-0002-2875-212XReza Nakhaie Jazar2Hormoz Marzbani3https://orcid.org/0000-0003-0168-4005Technische Hochschule Ingolstadt, Ingolstadt, GermanyTechnische Hochschule Ingolstadt, Ingolstadt, GermanySchool of Engineering, Royal Melbourne Institute of Technology, RMIT University, Melbourne, VIC, AustraliaSchool of Engineering, Royal Melbourne Institute of Technology, RMIT University, Melbourne, VIC, AustraliaCoupled controllers are vital for safely handling vehicles, especially in critical driving situations that include changing lanes to avoid obstacles. Controllers specialized in emergencies must keep road users safe in critical situations. In this paper, we develop the coupled controller to handle evasive maneuvers for an over-actuated vehicle. The controller is based on the second-order sliding mode control theory. We use the bicycle model to establish the equivalent and robust steering equations as a control-oriented model. The lateral and longitudinal vehicle motions are coupled to each other by the lateral vehicle information on the longitudinal sliding surface, and the dependence of the lateral sliding surface on the longitudinal velocity. The torque vectoring method based on fuzzy logic adjusts the yaw moment. We address the tire slip circle on the slip controller to stabilize the vehicle while maneuvering. We simulate and evaluate our controller in a rear-end collision situation with a short time window to maneuver the vehicle. The ego vehicle detects the preceding vehicle and performs an evasive lane change while simultaneously applying brakes to bring the vehicle to a halt. Our research is the earliest in providing an ultimate emergency control to successfully avoid crashes up to 130 km/h in short time crash detection.https://ieeexplore.ieee.org/document/10091551/Autonomous vehiclecrash avoidanceevasive maneuversover-actuated vehiclesliding mode controlvehicle coupled controllers |
| spellingShingle | Amauri Da Silva Junior Christian Birkner Reza Nakhaie Jazar Hormoz Marzbani Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering With Sliding Mode Control Strategy IEEE Access Autonomous vehicle crash avoidance evasive maneuvers over-actuated vehicle sliding mode control vehicle coupled controllers |
| title | Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering With Sliding Mode Control Strategy |
| title_full | Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering With Sliding Mode Control Strategy |
| title_fullStr | Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering With Sliding Mode Control Strategy |
| title_full_unstemmed | Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering With Sliding Mode Control Strategy |
| title_short | Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering With Sliding Mode Control Strategy |
| title_sort | coupled lateral and longitudinal controller for over actuated vehicle in evasive maneuvering with sliding mode control strategy |
| topic | Autonomous vehicle crash avoidance evasive maneuvers over-actuated vehicle sliding mode control vehicle coupled controllers |
| url | https://ieeexplore.ieee.org/document/10091551/ |
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