Abstract
In this article, a unified lane-keeping and forward collision avoidance system is proposed for semi-trailer trucks. Kinematic and dynamic models are described for lateral motion of the semi-trailer truck. The variation of the cornering stiffness is considered because its value depends on driving conditions such as vehicle speed and vertical load. The proposed system consists of the hitch angle estimation algorithm of the semi-trailer truck and the Model Predictive Controller (MPC) for the lateral motion of the semi-trailer truck. In the hitch angle estimation, the disturbance observer is utilized to compensate the lateral uncertainties and the estimation performance is validated in simulations and experiments. In the controller design, an MPC controller is designed both for lane keeping and collision avoidance, but their constraints in lateral motion are considered separately. In constructing the objective functions, constraint smoothing is applied to improve the feasibility of the semi-trailer truck motion. A simplification method is also introduced to reduce the computational complexity of the MPC and to improve the real-time performance. The proposed system is evaluated in simulations for lane keeping and collision avoidance, respectively.
Highlights
A semi-trailer truck is the combination of a tractor and semitrailer unit
According to Large truck and bus crash facts (LTBCF), which summarizes the traffic incidents in 17 U.S states based on data provided by the National Highway Traffic Safety Administration (NHTSA) between 1975 and 2016, the rate of fatal crashes per 100 million traveled miles of heavy commercial vehicle accidents is greater than the rate of general passenger vehicle [1], [2]
It is analyzed [3] that Lane keeping assist (LKA) and Lateral collision avoidance assist (LCA) system can avoid accidents in most scenarios
Summary
A semi-trailer truck is the combination of a tractor and semitrailer unit. This vehicle is widely used in the transportation industry, but it is heavier than passenger vehicle due to heavy weight of tractor and trailer. According to European accident research and safety report [3], major risk scenarios related to large commercial vehicles can be classified into three types; between commercial vehicles or commercial vehicle alone accidents, commercial vehicle and passenger car accidents, and commercial vehicles and other driving/non-driver accidents It is analyzed [3] that Lane keeping assist (LKA) and Lateral collision avoidance assist (LCA) system can avoid accidents in most scenarios. Various methods have been studied for collision avoidance through steering and additional actuator He et al [4] evaluated the risk associated with collision by modeling dynamic threat assessment model. Model predictive controller (MPC) is designed to calculate the desired path and the steering angle, where lateral constraints for lane keeping and collision avoidance are considered separately. Variation of the cornering stiffness is considered in calculating the lateral tire force
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