Autonomous Collision Avoidance System Using Combined Four-Wheel Steering And Direct Yaw-Moment Control

Nowadays autonomous vehicle caused by the automotive research world. The evolution of an autonomous vehicle caused by the increase in an accident happened due to human error. In reducing the number of accident that commonly happen to the road, many researchers conducted several studies on the collis...

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Main Author:	Shaharudin, Nur Amalina
Format:	Thesis
Language:	English English
Published:	2021
Subjects:	T Technology (General)
Online Access:	http://eprints.utem.edu.my/id/eprint/25556/1/Autonomous%20Collision%20Avoidance%20System%20Using%20Combined%20Four-Wheel%20Steering%20And%20Direct%20Yaw-Moment%20Control.pdf http://eprints.utem.edu.my/id/eprint/25556/2/Autonomous%20Collision%20Avoidance%20System%20Using%20Combined%20Four-Wheel%20Steering%20And%20Direct%20Yaw-Moment%20Control.pdf
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id	my-utem-ep.25556
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Phuman Singh, Amrik Singh
topic	T Technology (General) T Technology (General)
spellingShingle	T Technology (General) T Technology (General) Shaharudin, Nur Amalina Autonomous Collision Avoidance System Using Combined Four-Wheel Steering And Direct Yaw-Moment Control
description	Nowadays autonomous vehicle caused by the automotive research world. The evolution of an autonomous vehicle caused by the increase in an accident happened due to human error. In reducing the number of accident that commonly happen to the road, many researchers conducted several studies on the collision avoidance system. This is project will focus on modelling the eight-degree-of-freedom vehicle model using Dugoff's Tire Model and the development of the quintic polynomial trajectory generation as the reference trajectory for overtaking maneuver by reducing the jerk. Then, the integrated controller for the lateral and longitudinal dynamics is based on combined four-wheel steering control and direct yaw-moment control is designed to track the reference trajectory. The performance of the collision avoidance controller is evaluated by using MATLAB Simulink. The results show that the proposed controller is able to follow the desired trajectory of the overtaking maneuver. However, two-stage square sum minimization.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Shaharudin, Nur Amalina
author_facet	Shaharudin, Nur Amalina
author_sort	Shaharudin, Nur Amalina
title	Autonomous Collision Avoidance System Using Combined Four-Wheel Steering And Direct Yaw-Moment Control
title_short	Autonomous Collision Avoidance System Using Combined Four-Wheel Steering And Direct Yaw-Moment Control
title_full	Autonomous Collision Avoidance System Using Combined Four-Wheel Steering And Direct Yaw-Moment Control
title_fullStr	Autonomous Collision Avoidance System Using Combined Four-Wheel Steering And Direct Yaw-Moment Control
title_full_unstemmed	Autonomous Collision Avoidance System Using Combined Four-Wheel Steering And Direct Yaw-Moment Control
title_sort	autonomous collision avoidance system using combined four-wheel steering and direct yaw-moment control
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty Of Mechanical Engineering
publishDate	2021
url	http://eprints.utem.edu.my/id/eprint/25556/1/Autonomous%20Collision%20Avoidance%20System%20Using%20Combined%20Four-Wheel%20Steering%20And%20Direct%20Yaw-Moment%20Control.pdf http://eprints.utem.edu.my/id/eprint/25556/2/Autonomous%20Collision%20Avoidance%20System%20Using%20Combined%20Four-Wheel%20Steering%20And%20Direct%20Yaw-Moment%20Control.pdf
_version_	1747834139259699200
spelling	my-utem-ep.255562022-01-06T12:43:10Z Autonomous Collision Avoidance System Using Combined Four-Wheel Steering And Direct Yaw-Moment Control 2021 Shaharudin, Nur Amalina T Technology (General) TL Motor vehicles. Aeronautics. Astronautics Nowadays autonomous vehicle caused by the automotive research world. The evolution of an autonomous vehicle caused by the increase in an accident happened due to human error. In reducing the number of accident that commonly happen to the road, many researchers conducted several studies on the collision avoidance system. This is project will focus on modelling the eight-degree-of-freedom vehicle model using Dugoff's Tire Model and the development of the quintic polynomial trajectory generation as the reference trajectory for overtaking maneuver by reducing the jerk. Then, the integrated controller for the lateral and longitudinal dynamics is based on combined four-wheel steering control and direct yaw-moment control is designed to track the reference trajectory. The performance of the collision avoidance controller is evaluated by using MATLAB Simulink. The results show that the proposed controller is able to follow the desired trajectory of the overtaking maneuver. However, two-stage square sum minimization. 2021 Thesis http://eprints.utem.edu.my/id/eprint/25556/ http://eprints.utem.edu.my/id/eprint/25556/1/Autonomous%20Collision%20Avoidance%20System%20Using%20Combined%20Four-Wheel%20Steering%20And%20Direct%20Yaw-Moment%20Control.pdf text en public http://eprints.utem.edu.my/id/eprint/25556/2/Autonomous%20Collision%20Avoidance%20System%20Using%20Combined%20Four-Wheel%20Steering%20And%20Direct%20Yaw-Moment%20Control.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=119689 mphil masters Universiti Teknikal Malaysia Melaka Faculty Of Mechanical Engineering Phuman Singh, Amrik Singh 1. Abe, M. (1999) 'Vehicle Dynamics and Control for Improving Handling and Active Safety: From Four-Wheel Steering to Direct Yaw Moment Control'. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi- body Dynamics, 2 1 3 (2), pp. 87-101. 2. Alleyne, A. (1997) 'A Comparison of Alternative Intervention Strategies for Unintended Roadway Departure (URD) control'. Vehicle System Dynamics, 27(3), pp. 157-186. 3. Amer, N. H. et al. (2017) 'Modelling and Control Strategies in Path Tracking Control for Autonomous Ground Vehicles: A Review of State of the Art and Challenges'. Journal of Intelligent and Robotic Systems: Theory and Applications, 86(2), pp. 225-254. 4. Bayar, G. (20 13) 'Long Distance Autonomous Trajectory Tracking for an Orchard Vehicle'. Industrial Robot, 40(1), pp. 27-40. 5. Lo Bianco, C. G. and Piazzi, A. (2000) 'Optimal Trajectory Planning with Quintic G2- splines'. IEEE Intelligenf Vehicles Symposizim, Proceedings, pp. 620-625. 6. Dubins, L. E. (1957) 'Initial and Terminal Positions and Tangents Average Curvature, And With Prescribed Initial'. 79(3), pp. 497-5 16. 7. Durali, M., Amini Javid, G. and Kasaiezadeh, A. (2006) 'Collision Avoidance Maneuver for an Autonomous Vehicle'. International Workshop on Advanced Motion Control, AMC, 2006, pp. 249-254. 8. Fitch, G. M., Lee, S. E., and Klauer, S., 2009. National Highway TrafJic Safety Administration: Analysis of Lane-Change Crashes and Near-Crashes. [online] Available at: https://www.nhtsa.gov/sites/nhtsa.dot.gov/les/811147.pdf. [Accessed on 2 November 20201. 9. Fujinami, Y. et al. (2018) 'Risk Predictive Driver Assistance System for Collision Avoidance in Intersection Right Turns'. Journal of Robotics and Mechatronics, 30(1), pp. 15-23. 10. Funke, J. and Gerdes, J. C. (2016) 'Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints'. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 138(2), pp. 1-9. 11. Hiraoka, T., Nishihara, 0. and Kumamoto, H. (2009) 'Automatic Path-tracking Controller of a Four-wheel Steering Vehicle'. Vehicle System Dynamics, 47(1 O), pp. 1205-1227. 12. Hu, C., Wang, R. and Yan, F. (2016) 'Integral Sliding Mode-Based Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Vehicles'. IEEE Transactions on Transportation ElectriJication, 2(2), pp. 221-230. 13. Isemann, R., Mannale, R. and Schmitt, K. (2012) 'Collision-avoidance Systems PRORETA: Situation Analysis and Intervention Control'. Control Engineering Practice. Elsevier, 20(1 l), pp. 1236-1 246. 14. Kim, D., Kim, H. and Huh, K. (2017) 'Local Trajectory Planning and Control for Autonomous Vehicles using The Adaptive Potential Field'. 1st Annual IEEE Conference on Control Technology and Applications, CCTA 201 7, pp. 987-993. 15. LeBlanc, D. J. et al. (1996) 'CAPC: A Road-Departure Prevention System', IEEE Control Systems, 16(6), pp. 61-71. 16. Liu, G. et al. (2013) 'The 3-DOF Bicycle Model with The Simplified Piecewise Linear Tire Model', Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013, pp. 3530-3534. 17. Liu, R., Wei, M. and Sang, N. (2020) 'Emergency Obstacle Avoidance Trajectory Tracking Control Based on Active Disturbance Rejection for Autonomous Vehicles'. International Journal of Advanced Robotic Systems, 17(3), pp. 1-1 7. 18. Min, K. (2015) 'Modelling and validation of 16 DOF full vehicle model for guidance control', 10(4), pp. 392-416. 19. Mohammed, H., Kahya, A. and Schmidt, K. W. (2017) 'Clothoid-based Lane Change Trajectory Computation for Self-Driving Vehicles'. University Journal of Science and Engineering, 14(2), pp. 152-179. 20. Mostavi, M. and Kazemi, M. (2014) 'An Optimal Four Wheel Steering Vehicles Control Based on Pole Placement Method'. Wseas. Us, pp. 1-6. 21. Nagai, M., Hirano, Y. and Yamanaka, S. (1997) 'Integrated Control of Active Rear Wheel Steering and Direct Yaw ~oment Control'. Vehicle System Dynamics, 27(5-6), pp. 357- 370. 22. Najm, W. G., Smith, J. D. and Yanagisawa, M. (2007) 'National Highway Trafic Safety Administration: Pre-Crash Scenario Typology for Crash Avoidance Research. [online] Available at: https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/pre-crash_scenario_typology-finalqdf_version-5-2-07.pdf. [Accessed on 2 November 20201. 23. Naranjo, J. E. et al. (2008) 'Lane-change Fuzzy Control in Autonomous Vehicles for The Overtaking Maneuver'. IEEE Transactions on Intelligent Transportation Systems, 9(3), pp. 438-450. 24. Nishihara, 0. (2014) 'Comparison of Optimization Schemes for Tire Force Distribution in Integrated Chassis Control', pp. 409-414. 25. Nishihara, 0. and Higashino, S. (20 12) 'Exact Solution to Four-wheel Independent Driving / Braking Force Distribution and Direct Yaw-moment Optimization with Minimax Criterion of Tire Workload', International Symposium on Advanced Vehicle Control 2012, Seoul, Korea. 26. Oraby, W. A. H. et al. (2004) 'Improvement of Vehicle Lateral Dynamics by Active Front Steering Control'. SAE Technical Papers, (724). 27. Papadimitriou, I. and Tomizuka, M. (2003) Tast Lane Changing Computations using Polynomials'. Proceedings ofthe American Control Conference, 1, pp. 48-53. 28. Park, H. and Gerdes, J. C. (2015) 'Optimal tire force allocation for trajectory tracking with an over-actuated vehicle'. IEEE Intelligent Vehicles Symposium, Proceedings, pp. 1032- 1037. 29. Petrov, P. and Nashashibi, F. (2014) 'Modeling and Nonlinear Adaptive Control for Autonomous Vehicle Overtaking'. IEEE Transactions on Intelligent Transportation Systems, 1 5(4), pp. 1 643-1 656. 30. Piazzi, A. and Lo Bianco, C. G. (2000) 'Quintic G2-splines for Trajectory Planning of Autonomous Vehicles'. IEEE Intelligent Vehicles Symposium, Proceedings, pp. 198-203. 31. Rajamani, R. (2012) Vehicle Dynamics and Control. 2nd edn. Boston, Massachusetts: Springer. 32. Raksincharoensak, P., Nagai, M. and Mouri, H. (2001) 'Investigation of Automatic Path Tracking Control using Four-wheel Steering Vehicle'. Proceedings of the IEEE International Vehicle Electronics Conference 2001, NEC 2001, pp. 73-77. 33. Scheuer, A. and Fraichard, T. (1996) 'Planning Continuous-curvature Paths for Car-like Robots9. IEEE International Conference on Intelligent Robots and Systems, 3, pp. 1304- 1311. 34. Schittenhelm, H. (201 1) 'Driver Assistance Systems in Oncoming Traffic Situations'. 22nd International Technical Conference on the Enhanced Safety of Vehicles (ESV), pp. 1-1 1. 35. Setiawan, J. D., Safarudin, M. and Singh, A. (2009) 'Modeling, Simulation and Validation of 14 DOF Full Vehicle Model'. 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Autonomous Collision Avoidance System Using Combined Four-Wheel Steering And Direct Yaw-Moment Control

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