Driver assistance systems have received increased attention for improving automotive safety. These systems are designed to aid the driver by preventing any unstable or unpredictable vehicle behavior. Today's driver assistance systems are using real-time models only for the electronic stability program (ESP). Fault detection and diagnosis is mostly performed by relatively simple methods. Therefore a new approach for the online detection of different driving situations based on the characteristic velocity is presented using only production sensors. The further improvement of drive dynamic control needs model-based concepts. Two model-based applications are described. Firstly, the one-track model is used to indicate critical driving situations like oversteering or unstable behavior. Experiments with a middleclass vehicle show the results of this supervision and fault detection method. Secondly, it is shown by simulation how the understeering and oversteering behavior can be influenced by anti-roll bar actuation. Then a nonlinear yaw-rate controller for active steering is designed and it is shown by simulation how the steering behavior can be improved by anti-roll actuation.
Model-based supervision and control of lateral vehicle dynamics
Modellbasierte Überwachung und Regelung der lateralen Fahrzeugdynamik
2005
6 Seiten, 10 Bilder, 2 Tabellen, 7 Quellen
Conference paper
English
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