Open-loop vehicle collision avoidance and rollover prevention using previewed Zero-Moment Point

Paul Stankiewicz, Alex Brown, Sean N. Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This research estimates the minimum intervention distance needed for a vehicle to safely avoid an obstacle, while also preventing wheel lift and tire skid. The intervention strategy considered is an open-loop lane change avoidance trajectory. As the vehicle approaches the obstacle, it continually determines the available lane change maneuver, relying on predictions of the Zero-Moment Point (ZMP) metric to determine if lane change candidates may cause the onset of wheel lift. The approach used here considers both flat roads and banked curves that may occur due to highway design policy. Results show that larger distances between the vehicle and obstacle are needed to safely intervene when wheel lift and tire skid are considered.

Original languageEnglish (US)
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3207-3212
Number of pages6
ISBN (Print)9781479932726
DOIs
StatePublished - Jan 1 2014
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: Jun 4 2014Jun 6 2014

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2014 American Control Conference, ACC 2014
CountryUnited States
CityPortland, OR
Period6/4/146/6/14

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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    Stankiewicz, P., Brown, A., & Brennan, S. N. (2014). Open-loop vehicle collision avoidance and rollover prevention using previewed Zero-Moment Point. In 2014 American Control Conference, ACC 2014 (pp. 3207-3212). [6859141] (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2014.6859141