Vehicle agile maneuvering: From rally drivers to a finite state machine approach

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

10 Citations (Scopus)
352 Downloads (Pure)

Abstract

Rally drivers can perform extreme maneuvers and keep a vehicle on track by maximizing the vehicle agility. It is remarkable that this is achieved robustly, without a vehicle or tire model in mind. In this study, the Moment Method Diagram and Beta Method representations are used to show the maximum achievable yaw moment generated by the front and rear tires. A new maneuverability map is proposed to bypass the limitations imposed by the steady-state assumptions, based on the wheel slip - yaw moment representation. Furthermore, a simple driving automation strategy is developed to determine the sequence of inputs required for maximizing vehicle agility and negotiating extreme maneuvers. A finite state machine is designed and implemented using a two track vehicle model. The numerical results show that the finite state machine can resemble a rally driver.

Original languageEnglish
Title of host publication2016 IEEE Symposium Series on Computational Intelligence, SSCI 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)978-1-5090-4240-1
ISBN (Print)978-1-5090-4241-8
DOIs
Publication statusPublished - 9 Feb 2017
Event2016 IEEE Symposium Series on Computational Intelligence - Athens, Greece
Duration: 6 Dec 20169 Dec 2016

Conference

Conference2016 IEEE Symposium Series on Computational Intelligence
Abbreviated titleSSCI 2016
CountryGreece
CityAthens
Period6/12/169/12/16

Keywords

  • agile maneuvering
  • autonomous driving
  • drift
  • finite state machine

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems and Management
  • Control and Optimization
  • Artificial Intelligence

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  • Cite this

    Acosta, M., Kanarachos, S., & Blundell, M. (2017). Vehicle agile maneuvering: From rally drivers to a finite state machine approach. In 2016 IEEE Symposium Series on Computational Intelligence, SSCI 2016 [7850095] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSCI.2016.7850095