| Title | Post-Impact Control to Mitigate the Secondary Collision by Combining LQR with Feed-Forward Control |
| Author | |
| Corresponding Author | Jia, Zhenzhong |
| DOI | |
| Publication Years | 2022
|
| Conference Name | 7th IEEE International Conference on Advanced Robotics and Mechatronics
|
| ISBN | 978-1-6654-8307-0
|
| Source Title | |
| Pages | 937-942
|
| Conference Date | JUL 09-11, 2022
|
| Conference Place | null,Guilin,PEOPLES R CHINA
|
| Publication Place | 345 E 47TH ST, NEW YORK, NY 10017 USA
|
| Publisher | |
| Abstract | Road traffic statistics shows that multi-event collision accidents cause significant losses to the society. The impact forces often cause very large heading angle and lateral deviation, leading to more severe secondary collision and even fatal crashes. This paper propose a post-impact controller based on an active front axle steering actuator. It can attenuate the vehicle's undesired motion deviation after the first impact. The controller, which integrates the path tracking error model with vehicle dynamics model, is developed by fusing feed-forward control and with linear-quadratic regulator (LQR). We use Carsim and Simulink co-simulation to validate its effectiveness on both straight and bend road, the latter of which has not been studied in the literature. We also build a high-performance scaled vehicle platform for future experimental investigation of our and other post-impact control strategies. |
| Keywords | |
| SUSTech Authorship | First
; Corresponding
|
| Language | English
|
| URL | [Source Record] |
| Indexed By | |
| Funding Project | Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004]
|
| WOS Research Area | Automation & Control Systems
; Engineering
; Robotics
|
| WOS Subject | Automation & Control Systems
; Engineering, Electrical & Electronic
; Robotics
|
| WOS Accession No | WOS:000926398000155
|
| Data Source | Web of Science
|
| PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9959631 |
| Citation statistics |
Cited Times [WOS]:0
|
| Document Type | Conference paper |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/416076 |
| Department | Department of Mechanical and Energy Engineering |
| Affiliation | 1.Southern Univ Sci & Technol SUSTech, Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China 2.Southern Univ Sci & Technol SUSTech, Dept Mech & Energy Engn, Guangdong Prov Key Lab Human Augmentat & Rehabil, Shenzhen 518055, Peoples R China |
| First Author Affilication | Department of Mechanical and Energy Engineering |
| Corresponding Author Affilication | Department of Mechanical and Energy Engineering |
| First Author's First Affilication | Department of Mechanical and Energy Engineering |
| Recommended Citation GB/T 7714 |
Li, Zhuolun,Gao, Chengyuan,Zhu, Zheng,et al. Post-Impact Control to Mitigate the Secondary Collision by Combining LQR with Feed-Forward Control[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:937-942.
|
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