Crash statistics demonstrate that speeding is often associated with loss of control vehicle crashes. This paper presents an approach which integrates steering and braking actuation to provide driver support in corner over-speed scenarios. The proposed hierarchical controller defines a path-following function for the desired cornering radius and then determines appropriate braking and steering inputs, using sliding surface control, to drive the vehicle to the desired path. Simulations demonstrate that the sliding surface controller design can outperform a human driver model in keeping the vehicle on the roadway, employing a complex sequence of braking and steering inputs only feasible with the addition of a modern vehicle control system.
- Dynamic Systems and Control Division
Vehicle Stabilization During Critical Cornering Scenarios Using Sliding Surface Control
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Boyd, C, & Beal, CE. "Vehicle Stabilization During Critical Cornering Scenarios Using Sliding Surface Control." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems. Tysons, Virginia, USA. October 11–13, 2017. V001T45A010. ASME. https://doi.org/10.1115/DSCC2017-5216
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