Integrated control design for driver assistance systems based on LPV methods

Gáspár, Péter and Németh, Balázs (2016) Integrated control design for driver assistance systems based on LPV methods. INTERNATIONAL JOURNAL OF CONTROL, 89 (12). pp. 2420-2433. ISSN 0020-7179 10.1080/00207179.2016.1160292

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Abstract

The paper proposes a control design method for a driver assistance system. In the operation of the system, a predefined trajectory required by the driver with a steering command is followed. During manoeuvres the control system generates differential brake moment and the auxiliary front-wheel steering angle and changes the camber angles of the wheels in order to improve the tracking of the road trajectory. The performance specifications are guaranteed by the local controllers, i.e. the brake, the steering, and the suspension systems, while the coordination of these components is provided by the supervisor. The advantage of this architecture is that local controllers are designed independently, which is ensured by the fact that the monitoring signals are taken into consideration in the formalisation of their performance specifications. The fault-tolerant control can be achieved by incorporating the detected fault signals in their performance specifications. The control system also uses a driver model, with which the reference signal can be generated. In the control design, the parameter-dependent linear parameter-varyingmethod, which meets the performance specifications, is used. The operation of the control system is illustrated through different normal and emergency vehicle manoeuvres with a high-accuracy simulation software. © 2016 Informa UK Limited, trading as Taylor & Francis Group

Item Type: Article
Uncontrolled Keywords: Suspensions (components); Performance specifications; Front wheel steering angles; Fault tolerant control; Driver assistance system; Wheels; Steering; Specifications; Magnetic levitation vehicles; Fault tolerance; Decentralized control; CONTROLLERS; Control systems; Control system synthesis; computer software; Brakes; Automobile suspensions; Automobile steering equipment; Automobile drivers; Vehicle control; robust stability and performance; LPV control; Integrated control; Decentralised control
Subjects: Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions: Systems and Control Lab
SWORD Depositor: MTMT Injector
Depositing User: MTMT Injector
Date Deposited: 17 Jan 2017 08:41
Last Modified: 25 Apr 2018 08:45
URI: http://eprints.sztaki.hu/id/eprint/8940

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