Abstract
Active safety systems enabled by steer-by-wire technology can share control with a driver, augmenting the driver's steering commands to avoid collisions and prevent loss of control. The extent to which this can be done is limited by the controller's ability to anticipate dangerous scenarios in order to appropriately intervene and steer the vehicle to safety. However, the non-linear nature of tire dynamics poses a challenge in predicting and modifying vehicle behavior in real-time. In this paper, online successive linearizations of the future planned vehicle trajectory approximates these non-linear dynamics in a real-time, model predictive controller that shares control with a human driver. Simulation results of aggressive maneuvers demonstrate the usefulness of this approach as well as illustrate interesting interactions between the sometimes competing objectives of vehicle stability and collision avoidance.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
