Emergency Avoidance Control System for an Automatic Vehicle – Slip Ratio Control Using Sliding Mode Control and Real-Number-Coded Immune Algorithm –
Masafumi Hamaguchi and Takao Taniguchi
Interdisciplinary Graduate School of Science and Engineering, Shimane University
1060 Nishikawatsu-cho, Matsue-shi, Shimane 690-8504, Japan
The automotive industry facilitates research and development on intelligent transport systems. One area researched intensively to enhance passenger safety is the prevention of collisions by controlling steering and braking precisely. In this study, we assume that an automatic vehicle travelling on a highway is on a collision course with an obstacle. The purpose of this research is combining steering and braking to find a set of operations the vehicle can follow to avoid the projected collision. To do this, we propose slip ratio control using sliding mode control using a real-number-coded immune algorithm (IA). CarSim (produced by Mechanical Simulation Company) provides full vehicle dynamics with 27 degrees of freedom adopted as a vehicle model. Operation waveforms are generated by linear interpolation through designated data points. The IA, which is a coded real-number expression, is used to determine data points. Our proposal’s efficiency is verified through emergency avoidance simulation using CarSim. Simulation results demonstrate operation that keeps tires from skidding using slip ratio control and halting the vehicle in the shortest braking distance possible.
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