Loss of control accidents result in thousands of fatalities in the United States each year. Production stability control systems are highly effective in preventing these accidents, despite their reliance on a hand-tuned response to data from a small set of sensors. However, improvements in sensing offer opportunities to determine stabilizing actions in a more systematic manner. This paper presents an approach that utilizes the yaw-sideslip phase plane to choose boundaries that eliminate unstable and undesirable driving regimes. These boundaries may be varied to obtain desirable performance and driver acceptance and form the basis for a driver assistance system that augments the driver input to maintain the vehicle within the bounds of a safe handling envelope. Experimental results from a model predictive controller used to enforce the envelope boundaries on a steer-by-wire vehicle are presented to demonstrate the viability of this framework for implementing stability boundaries.
- Dynamic Systems and Control Division
Controlling Vehicle Instability Through Stable Handling Envelopes
- Views Icon Views
- Share Icon Share
- Search Site
Beal, CE, Bobier, CG, & Gerdes, JC. "Controlling Vehicle Instability Through Stable Handling Envelopes." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 861-868. ASME. https://doi.org/10.1115/DSCC2011-6124
Download citation file: