Post-Impact Control to Mitigate the Secondary Collision by Combining LQR with Feed-Forward Control

Li, Zhuolun1,2; Gao, Chengyuan1,2; Zhu, Zheng1,2; Jia, Zhenzhong1,2

10.1109/ICARM54641.2022.9959631

2022

7th IEEE International Conference on Advanced Robotics and Mechatronics

978-1-6654-8307-0

2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022)

937-942

JUL 09-11, 2022

null,Guilin,PEOPLES R CHINA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

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.

Regulators Mechatronics Tracking Software packages Roads Vehicle dynamics Collision avoidance

第一 ; 通讯

英语

CPCI-S

Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004]

Automation & Control Systems ; Engineering ; Robotics

Automation & Control Systems ; Engineering, Electrical & Electronic ; Robotics

WOS:000926398000155

Web of Science

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

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.