Abstract
Nowadays, vehicles are being fitted with systems that improve their maneuverability, stability, and comfort in order to reduce the number of accidents. Improving these aspects is of particular interest thanks to the incorporation of autonomous vehicles onto the roads. The knowledge of vehicle sideslip and roll angles, which are among the main causes of road accidents, is necessary for a proper design of a lateral stability and roll-over controller system. The problem is that these two variables cannot be measured directly through sensors installed in current series production vehicles due to their high costs. For this reason, their estimation is fundamental. In addition, there is a time delay in the relaying of information between the different vehicle systems, such as, sensors, actuators and controllers, among others. This paper presents the design of an {H}_{infty }-based observer that simultaneously estimates both the sideslip angle and the roll angle of a vehicle for a networked control system, with networked transmission delay based on an event-triggered communication scheme combined with neural networks (NN). To deal with the vehicle nonlinearities, NN and linear-parameter-varying techniques are considered alongside uncertainties in parameters. Both simulation and experimental results are carried out to prove the performance of observer design.
Highlights
The high number of road accidents and deaths caused mainly by human error is one of the most serious issues facing many countries nowadays
The problem is that these two variables cannot be measured directly through sensors installed in current series production vehicles due to their high cost
An instrumented Mercedes Sprinter van (Fig. 6) was used with a steering wheel sensor from Kistler that provides the wheel results: roll angle for the real maneuver steering angle signal, δ, an IMU sensor from Racelogic located at the van’s center of gravity, which provides the signals of the longitudinal acceleration, ax, the lateral acceleration, ay, the yaw rate, r, and the roll rate, φ, and a dual GPS antenna from Racelogic
Summary
The high number of road accidents and deaths caused mainly by human error is one of the most serious issues facing many countries nowadays. The advanced driver-assistance systems require the installation of a large number of devices in the vehicles, such as sensors, actuators, and microprocessors, and a communication network that allows signals to be sent from one device to another This implies the design of a very complex system with a high processing capacity, low energy consumption, and security in the transmission of information. The sampling of information with a fixed period, which can result in the sending of unnecessary information, can cause a saturation of the network along with the finite property of network bandwidth resulting in network-induced delays [20] To address this problem, a lot of research has been focused on the design of event-triggered systems, in which the task is carried out if the eventtriggered condition is violated [14,17,29,39].
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