Abstract
This paper investigates the problem of tire burst, and how to mitigate its adverse effects in an AHS environment. The problem is approached by first modeling the tire burst. A feed-forward controller is designed, based on inverting the nonlinear tire-burst dynamics for controlling the car after the tire burst. The feed-forward term is approximated by the output of a second-order filter. The approximation also provides a way to characterize the feed-forward term for different road curvature and different tires (front/rear, left/right). Two different tire blow-out detection algorithms are discussed. This is followed by the experimental phase. Open-loop experiments were conducted to verify the tire-burst model. Closed-loop tests were then carried out to validate the automatic lane-following performance after a tire burst. The results have shown that the burst controller enables the car to follow the lane, even after a front tire blow-out.
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