Abstract
An intelligent vehicle must face a wide variety of situations ranging from safe and comfortable to more aggressive ones. Smooth maneuvers are adequately addressed by means of linear control, whereas more aggressive maneuvers are tackled by nonlinear techniques. Likewise, there exist intermediate scenarios where the required responses are smooth but constrained in some way (rise time, settling time, overshoot). Due to the existence of the fundamental linear limitations, which impose restrictions on the attainable time-domain and frequency-domain performance, linear systems cannot provide smoothness while operating in compliance with the previous restrictions. For this reason, this article aims to explore the effects of reset control on the alleviation of these limitations for a lane change maneuver under a set of demanding design conditions to guarantee a suitable ride quality and a swift response. To this end, several reset strategies are considered, determining the best reset condition to apply as well as the magnitude thereto. Concerning the reset condition that triggers the reset action, three strategies are considered: zero crossing of the controller input, fixed reset band and variable reset band. As far as the magnitude of the reset action is concerned, a full-reset technique is compared to a Lyapunov-based error minimization method to calculate the optimal reset percentage. The base linear controller subject to the reset action is searched via genetic algorithms. The proposed controllers are validated by means of CarSim.
Highlights
Advancements within the autonomous driving field lead to improvements in many aspects of our lifestyles related to transport systems such as road safety, traffic congestion, transit efficiency and reduction of fuel consumption
The objective of this work is to explore the potential of reset control for a lane change maneuver
Due to the aforementioned restrictions, the reset instants must be carefully overseen in order not to surpass the limits of acceleration and jerk since, at those particular moments, the jumps in the controller states are critical and may lead to a poor ride quality resulting in discomfort for the passengers
Summary
Advancements within the autonomous driving field lead to improvements in many aspects of our lifestyles related to transport systems such as road safety, traffic congestion, transit efficiency and reduction of fuel consumption. Organization (WHO), road injuries constitute one of the main global causes of death Concerned with this disastrous occurrence, autonomous vehicles must be endowed with an extensive set of capabilities to provide absolute functionality in the face of the wide variety of situations they confront. It is expected that, by 2040, autonomous vehicles will be endowed with a broad variety of highly automated functions [1] Among those functions, there are many which have already been implemented, and are continuously being enhanced, such as Pedestrian Detection (PD), Automatic Cruise Control (ACC), Lane Departure Warning (LDW), Lane Keeping Assist (LKA) and Lane Change Assist (LCA), to name a few ones. All of these functions are part of more complex systems that are closely linked and must work together
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