Concept of the automatization of dangerous driving manoeuvres

• Autorzy: Gidlewski M. , Jemioł L. , Żardecki D.

Identyfikatory

DOI

10.5604/01.3001.0012.2456

• Języki publikacji: EN

Abstrakty

EN

Automatic control is one of the main characteristic features of the present-day “electrified” motor vehicle. The avoidance of a suddenly appearing obstacle, including a rapid lane-change manoeuvre, is counted among the driving manoeuvres that are most dangerous and difficult to be automatized. Note that this seems to be a fundamental problem for autonomous cars. The authors have shown general vehicle automatization concepts derived from the control systems theory. Against this background, they have presented results of their own analytical studies and simulation research related to the system of automatic controlling of a rapid lane-change manoeuvre. A controller algorithm developed within this work, where a simplified reference model of the lateral dynamics of a motor vehicle was used (transmittance-type model based on well known “bicycle model” but transformed and linearized), was successfully examined in exhaustive simulation tests. The virtual object used for the simulation tests was an extensive simulation model (3D, nonlinear, MBS type) of a two-axle motor truck of medium load capacity, driven with quite a high speed. This detail model had been experimentally verified. In the article, only a fragment of a large research project has been described.

Słowa kluczowe

EN

motor vehicle; active safety; lateral dynamics; avoidance automatization; obstacle voidance; model tests; simulation tests

PL

pojazd silnikowy; bezpieczeństwo aktywne; testy modelowe; testy symulacyjne

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2018
• Tom: Vol. 25, No. 1
• Strony: 111--122
• Opis fizyczny: Bibliogr. 13 poz., rys.

Twórcy

autor

Gidlewski M.

• Automotive Industry Institute Jagiellonska Street 55, 03-301 Warsaw, Poland tel.: [phone]

autor

Jemioł L.

• University of Technology and Humanities Malczewskiego Street 29, 26-600 Radom, Poland tel.: [phone]

autor

Żardecki D.

• Military University of Technology, Faculty of Mechanical Engineering Institute of Motor Vehicles and Transportation Gen. Witolda Urbanowicza Street 2, 00-908 Warsaw, Poland tel.: [phone]

Bibliografia

• [1] Athans, M., Falb, P. L., Optimal control. An Introduction to the Theory and Its Applications. McGraf-Hill, p. 857-866, 1966.
• [2] Bevan, G. P., Gollee, H., O’Reilly J., Trajectory generation for road vehicle obstacle avoidance using convex optimization. Proc. of the Institute of Mechanical Engineers Part D – Journal of Automobile Engineering, Vol. 224 (4), p. 455-473, 2010.
• [3] Gao, Y., Lin, T., Borrelli, F., Tseng, E., Hrovat, D., Predictive control of autonomous ground vehicles with obstacle avoidance on slippery roads. Dyn. Systems and Control Conf. pp. 265-272, 2010.
• [4] Gidlewski, M., Model of a dual axis heavy truck for handling studies in complex road situations. 11th European Automotive Congress, Budapest 2007.
• [5] Gidlewski, M., Żardecki, D., Automatic control of steering system during lane change, Proc. of ESV’2015 Conf. in Gothenburg, Sweden, available on the Internet.
• [6] Gidlewski, M., Żardecki, D., Simulation Based Sensitivity Studies of a Vehicle Motion Model. Proc. of the 20th Int. Scientific Conf. Transport Means, Juodkrante, Lithuania str. 236-240, 2016.
• [7] Gidlewski, M., Jemioł, L., Żardecki, D., Simulation investigation of the dynamics of the process of sudden obstacle avoiding by a motor vehicle, The Archives of Automotive Engineering, Vol. 73, No. 3, pp. 31-46, 2016.
• [8] Gidlewski, M., Żardecki D., Linearization of the lateral dynamics reference model for the motion control of vehicles. Mechanics Research Communications, No. 82, str. 49-54, 2017.
• [9] Gidlewski, M., Jankowski, K., Muszyński, A., Żardecki, D., Vehicle Lane Change Automation with Active Steering – Theoretical Studies and Numerical Investigations. SAE Paper 2017-01-1555, 2017.
• [10] Gidlewski, M., Jemioł, L., Żardecki, D., Simulation research on the process of lane change by a motor vehicle steered in an open and closed-loop system. Transaction Series: WIT Transactions on The Built Environment. Transaction Vol. 176, pp. 181-192, 2017.
• [11] Gidlewski, M., Jemioł, L., Żardecki, D., Wybrane problemy automatycznego omijania przeszkody (Selected problems of automatic obstacle avoidance). Paper presented at the 13th Int. Conference on Braking and Safety, Lodz 2017. Under preparation for printing.
• [12] Lee, J. H., Yoo, W. S., Predictive control of a vehicle trajectory using a coupled vector with vehicle velocity and sideslip angle. Int. J. of Automotive Technology, Vol. 10, No. 2, pp. 211-217, 2009.
• [13] Park, J. M., Kim, D. W., Yoon, Y. S., Kim, H. J., Yi, K. S., Obstacle avoidance of autonomous vehicles based on model predictive control. Proc. of the Institute of Mechanical Engineers Part D Journal of Automobile Engineering, Vol. 223, pp. 1499-1516, 2009.

Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).