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Nonlinear Differential Braking Control for Collision Avoidance During Lane Change

Author

Listed:
  • Young Seop Son

    (Department of Robot and Smart Systems Engineering, Kyungpook National University, Daegu 702-70, Korea)

  • Wonhee Kim

    (School of Energy Systems Engineering, Chung-Ang University, Seoul 156-756, Korea)

Abstract

In this paper, a nonlinear differential braking control method is developed to avoid collision during lane change under driver torque. The lateral dynamics consist of lateral offset error and yaw error dynamics and can be interpreted as a semi-strict feedback form. In the differential braking control problem under the driver torque, a matching condition does not satisfy, and the system is not in the form of, the strict feedback form. Thus, a general backstepping control method cannot be applied. To overcome this problem, the proposed method is designed via the combination of the sliding mode control and backstepping. Two sliding surfaces are designed for differential braking control. One of the surfaces is designed considering the lateral offset error, and the other sliding surface is designed using the combination of the yaw and yaw rate errors as the virtual input of the lateral offset error dynamics. A brake steer force input is developed to regulate the two sliding surfaces using a backstepping procedure under the driver torque. Integral action and a super twisting algorithm are used in the lateral controller to ensure the robustness of the system. The proposed method, which is designed via the combination of the sliding mode control and backstepping, can improve the lateral control performance using differential braking. The proposed method is validated through simulations.

Suggested Citation

  • Young Seop Son & Wonhee Kim, 2021. "Nonlinear Differential Braking Control for Collision Avoidance During Lane Change," Mathematics, MDPI, vol. 9(14), pages 1-15, July.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:14:p:1699-:d:597117
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    References listed on IDEAS

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    1. Jang-Hyun Park & Tae-Sik Park & Seong-Hwan Kim, 2019. "Approximation-Free Output-Feedback Non-Backstepping Controller for Uncertain SISO Nonautonomous Nonlinear Pure-Feedback Systems," Mathematics, MDPI, vol. 7(5), pages 1-11, May.
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    More about this item

    Keywords

    differential braking; backstepping control;

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