An autonomous safety system for road departure prevention based on combined path and sideslip control

Gao, Yangyan and Gordon, Timothy and Lidberg, M. and Klomp, M. (2015) An autonomous safety system for road departure prevention based on combined path and sideslip control. In: 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015, 17-21 August 2015, Graz, Austria.

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

Practical limits on vehicle speed in curves depends on many factors: road friction, lateral maneuvering room, driving skill and the willingness of a driver to brakewhile cornering. This is in addition to multiple vehicle design and performance characteristics, including the classical understeer behaviour. The current paper considers an active safety control system to protect against the major effects of over-speed in curves, especially lateral drift leading to lane or road departure. The concept is to use available information about various vehicle and environmental factors-e.g. surface friction, lane and shoulder widths-and compute control interventions which will protect against lane and road departure. The proposed system is based on the optimal control of particle motions, as described previously for a Parabolic Path Reference (PPR) which provides a control reference for combined cornering and braking under computer control. The earlier work assumed very simple road geometry which is generalized in the present analysis. Further, we make use of a novel control algorithm based on nonlinear optimal control theory, capable of delivering the required integrated control of speed, path curvature and yaw stability. This paper describes the key concepts for designing and implementing such a system. © 2016 Taylor & Francis Group, London.

Keywords:Algorithms, Computer control systems, Control system synthesis, Friction, Maneuverability, Roads and streets, Safety engineering, Shoulders (road), System theory, Transportation, Vehicles, Active safety, Environmental factors, Non-linear optimal control, Particle motions, Performance characteristics, Surface friction, Vehicle Control, Vehicle dynamics, Active safety systems, Autonomous safety
Subjects:H Engineering > H120 Safety Engineering
H Engineering > H331 Road Vehicle Engineering
Divisions:College of Science > School of Engineering
ID Code:23559
Deposited On:25 Jul 2016 09:01

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