Currently, lanekeeping controllers are viewed as driver assistance systems, intended for nominal driving conditions. Nevertheless, lanekeeping systems that incorporate heading error feedback also stabilize the yaw dynamics of a vehicle in critical situations. This paper mathematically demonstrates how lanekeeping systems can enhance vehicle stability even after tire saturation. This additional stability can be significant, as demonstrated experimentally with a steer-by-wire test vehicle in the presence of an abrupt destabilizing maneuver. The results suggest that the functionality of simple lanekeeping controllers is readily extended to the limits of handling, ideally as part of a control framework that integrates driver assistance and chassis control to improve overall vehicle safety. These experiments analyze the response of the vehicle in a situation analogous to dropped throttle oversteer and illustrate how the lanekeeping system can prevent a spin. The mechanism for stability is indeed a rapid countersteer resulting from heading error feedback in the lanekeeping algorithm.
Lanekeeping at the handling limits
2008
8 Seiten, 15 Bilder, 8 Quellen
Conference paper
English
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