Predictive driver interpreter by using inverse model for heavy vehicles

Yerlan Akhmetov (1) , Leo Laine , Didier Rémond (1) , Lionel Maiffredy (1) , Virginie Harth

1 LaMCoS - Laboratoire de Mécanique des Contacts et des Structures [Villeurbanne]

This paper evaluates predictive control and neces- sary time horizon for heavy vehicle's active safety functionality by using an inverse model as predictor. The predictive driver interpreter provides the anticipating signals for limiting the forward velocity which can guarantee a manoeuvre's safe realization without loss of control. It has been integrated in a control allocation structure. The controller has been tested for an open-loop avoidance manoeuvre which is given by a sine with dwell steering input. Simulations showed for the studied manoeuvre and truck configuration that the passive vehicle is stable until an amplitude of 105 deg of steering wheel angle. When no predictive horizon was applied in the control allocation, the amplitude could be increased to 150 deg. When a predictive horizon of 1.5 s was used the amplitude could be doubled and still be stable.

Domaines: Mécanique des structures [physics.class-ph]; Mécanique des structures [physics.class-ph]

Yerlan Akhmetov, Leo Laine, Didier Rémond, Lionel Maiffredy, Virginie Harth. Predictive driver interpreter by using inverse model for heavy vehicles. 13th International IEEE Conference on Intelligent Transportation Systems, Sep 2010, Madeira island, Portugal. pp.174 - 179. ⟨hal-00721845⟩