Citation

Harada M, Nagatomo T, Mitani Y, Yoshimoto K. Trans. Jpn. Soc. Mech. Eng. C 2006; 72(8): 2360-2365.

Affiliation

Department of Mechanical Engineering, National Defense Academy in Japan, Yokosuka-shi, Kanagrawa, 239-8686, Japan

Copyright

(Copyright © 2006, Nihon Kikai Gakkai)

DOI

unavailable

PMID

unavailable

Abstract

This paper presents driver models for a vehicle avoidance maneuver in cornering. The models are based on a preview driver model which has either a compensation control or a pursuit control. The preview point is detected by a variation of the present radius which is equivalent to a third-order prediction model, including a centrifugal jerk. The unknown control gains in the models are determined by an optimization program based on a Legendre pseudospectral method. A second-order prediction model, commonly used in cornering analysis, is compared to numerical examples. For the compensation model, the Proportional-Integral (PI) control results in a steering angle with two distinct behavior clearly: 1) steady-state cornering due to the Integral CI) control and 2) transient response due to the Proportional (P) control. The pursuit control has a sufficient response when the steering angle for the steady-state cornering is provided via feed-forward control, even if the P control is used for the compensator.