Abstract
Overtaking accidents caused by improper operations performed by a driver occur frequently. However, most studies on overtaking safety have neglected research into driver control input. A novel method is proposed to obtain the driver control input during the overtaking process. Meanwhile, to improve the safety of overtaking, two types of safe distances, and the time of the overtaking are considered. Path constraints are established when considering the two types of safe distances. An optimal control model is established to solve the minimum time maneuver under multiple constraints. Using the Gauss pseudospectral method, the optimal control problem is converted into a nonlinear programming problem, which is then solved through sequential quadratic programming (SQP). In addition, the effectiveness of the proposed method is verified based on the results of a Carsim simulation. The simulation results show that by adopting an inverse dynamics method to solve the manipulation problem of the vehicle’s minimum overtaking time, the manipulation capability of a vehicle in completing an overtaking safely within the minimum time can be obtained. This method can provide a reference for research into the active safety of manned and unmanned vehicles.
Highlights
With continuous improvements in traffic conditions, vehicles have entered a high-speed era
The study of inverse dynamics in vehicle handling is in contrast to the positive problem
Considering the influence of the longitudinal and lateral safety distances, with the aim of overtaking the front vehicle as quickly as possible, the optimal overtaking trajectory and the shortest overtaking time are figured out using the inverse dynamics method
Summary
With continuous improvements in traffic conditions, vehicles have entered a high-speed era. Bernard et al [15, 16] presented a nonlinear inverse model of a vehicle that simulates combined steering and braking/driving, the results of which show that the inverse method is useful in solving the problem of path tracking under different braking/driving scenarios Their model has provided a new idea regarding the development and application of vehicle handling dynamics. Hendriks et al [18] studied the optimal handling inverse problem by applying an optimal control theory and Pontryagin’s minimum principle, the results of which show that different vehicle configurations have different optimal control strategies, and their method can be used to evaluate the optimal transient handling performance of a vehicle Their algorithm is rather robust with respect to inaccurate starting values, but is the least efficient in terms of speed of convergence. Considering the influence of the longitudinal and lateral safety distances, with the aim of overtaking the front vehicle as quickly as possible, the optimal overtaking trajectory and the shortest overtaking time are figured out using the inverse dynamics method
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