Nonlinear model-based track guidance of user-defined points at the vehicle front |
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| Affiliation: | 1. University of Applied Sciences Aschaffenburg, Würzburger Str. 45, 63743 Aschaffenburg, Germany;2. ifak - Institute of Automation and Communication, Werner-Heisenberg-Str. 1, 39106 Magdeburg, Germany;1. University of Bayreuth, Mathematical Institute, Germany;2. Ruhr-University Bochum, Institute of Automation and Computer Control, Germany;1. Departamento de Engenharia Eletrônica, Universidade Federal de Minas Gerais, 31270-901 Belo Horizonte, MG, Brazil;2. Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, 41092 Sevilla, Spain |
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| Abstract: | Preventive pedestrian protection systems are validated by means of fully automated driving tests reproducing safety-critical traffic situations on a proving ground. In order to assess these preventive safety systems, a precise and reproducible collision of a pedestrian dummy with a specific point at the vehicle front, e.g., the left corner of the vehicle, must be ensured. Hence, a track guidance of this specific point is required. Beyond the state of the art a new nonlinear model describing the lateral deviation of any point at the vehicle front to a predefined path is proposed in this paper. Based on this model the method of input–output linearization is used to design a flexible lateral guidance system for an easy application in different vehicles. Furthermore, the closed-loop stability is proven and experimental results are presented. |
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| Keywords: | Nonlinear lateral vehicle control Track guidance Feedback linearization Input–output linearization Reproducible driving test Automated testing |
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