In this paper, a non-linear controller for collision avoidance in a heavy commercial road vehicle has been developed using Lyapunov theory. This paper considers the longitudinal dynamics of the vehicle, including the aerodynamic effect, the rolling resistance and the road grade. This paper also considers the maximum tire-road adhesion capacity and the braking capability of the vehicle. The developed controller has been tested using simulation for three realistic scenarios for different road and loading conditions and the results were compared with a controller developed using a linear full state feedback controller. It was observed that the non-linear controller has an advantage in terms of reduced time headway. © 2014 IEEE.

Shankar Coimbatore Subramanian

Department of Engineering Design

Vignesh Rajaram

IIT Madras is a public technical and research university located in Chennai, Tamil Nadu. Founded in 1959, it is recognised as an Institute of National Importance.

IIT Madras has been ranked as the top engineering institute in India for four years in a row by the National Institutional Ranking Framework of the MHRD

It currently offers undergraduate, postgraduate and research degrees across 16 disciplines in Engineering, Sciences, Humanities and Management. About 596 faculty belonging to science and engineering departments and centres of the Institute are engaged in teaching, research and industrial consultancy.

IIT Madras

Comparison of linear and non-linear control schemes for collision avoidance in heavy road vehicles

2014 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2014

Collision Warning and Collision Avoidance (CW/CA) systems are automotive safety technologies that assist drivers in avoiding a collision. In this paper, a collision avoidance (CA) algorithm is proposed for heavy commercial vehicles based on a safe distance and a safe relative velocity. The work presented in this paper focuses on the inclusion of important air brake system parameters such as brake time delay and brake response time in calculating the deceleration of the vehicle. The proposed algorithm also considers dynamic phenomenon such as the load transfer during braking, the dynamic brake force distribution between the wheels and the maximum braking force developed. The proposed algorithm is simulated for various real traffic scenarios and the results are found to be promising. © 2014 American Automatic Control Council.

Proceedings of the American Control Conference

A model based Collision Avoidance algorithm for heavy commercial vehicles

The brake system is one of the vital systems in an automobile that ensure its safety on the road. Air brake systems are usually used in commercial vehicle such as buses, trucks and tractor-trailers. The brake system should ideally operate with the least effort from the driver and should stop the vehicle within the shortest possible distance. The brake time lag and the brake response time are two important parameters that play a major role in determining the stopping distance. The conventional air brake system uses mechanically actuated valves that have an intrinsic time lag associated with them. An electro-pneumatic brake will use electronically actuated valves that will reduce the stopping distance of the vehicle by decreasing the time lag and the response time of the brake system. The work presented in this paper focuses on a comprehensive performance evaluation of an electro-pneumatic brake system in comparison with the conventional air brake system. This is carried out by performing exhaustive experiments and analyzing the collected data. The best configuration of the electro-pneumatic brake system is determined considering both system performance and system cost and complexity. © 2012 IEEE.

ICPCES 2012 - 2012 2nd International Conference on Power, Control and Embedded Systems

Performance evaluation of an electro-pneumatic braking system for commercial vehicles

The brake system is the primary system in an automobile which ensures its safety on the road. The ideal brake system should operate with the least effort from the driver and should stop the vehicle within the minimum possible distance. This paper deals with the air brake system which is widely used in commercial vehicles such as trucks, buses and tractor-trailers. One of the important parameters which affect the stopping distance of a vehicle is the brake response time. The work presented focuses on the development of an electropneumatic brake which would decrease the response time of the air brake system thereby providing a reduced stopping distance. A mathematical model that correlates the pressure transients in the brake chamber to the voltage input provided to the electropneumatic brake has been developed. The efficacy of this model is tested by comparing its results with experimental data obtained from various test runs. © 2009 IEEE.

Journal	Data powered by Typeset2014 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2014
Publisher	Data powered by TypesetInstitute of Electrical and Electronics Engineers Inc.
Open Access	No