This paper presents the design of a novel active safety system preventing unintended roadway departures. The proposed framework unifies threat assessment, stability, and control of passenger vehicles into a single combined optimization problem. A nonlinear model predictive control (MPC) problem is formulated, where nonlinear vehicle dynamics, in closed-loop with a driver model, is used to optimize the steering and braking actions needed to keep the driver safe. A model of the driver's nominal behavior is estimated based on his observed behavior. The driver commands the vehicle, whereas the safety system corrects the driver's steering and braking actions in case there is a risk that the vehicle will unintentionally depart from the road. The resulting predictive controller is always active, and mode switching is not necessary. We show simulation results detailing the behavior of the proposed controller and experimental results obtained by implementing the proposed framework on embedded hardware in a passenger vehicle. The results demonstrate the capability of the proposed controller to detect and avoid roadway departures while avoiding unnecessary interventions.
A Unified Approach to Threat Assessment and Control for Automotive Active Safety
IEEE Transactions on Intelligent Transportation Systems ; 14 , 3 ; 1490-1499
2013-09-01
1053417 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
A Unified Approach to Threat Assessment and Control for Automotive Active Safety
Online Contents | 2013
|Towards a unified approach to safety and security in automotive systems
Tema Archiv | 2007
|Threat Analysis and Risk Assessment in Automotive Cyber Security
SAE Technical Papers | 2013
|An Approach to Threat Assessment
Springer Verlag | 2009
|An Approach to Threat Assessment
British Library Conference Proceedings | 2009
|