Abstract
In this paper, a nonlinear differential braking control method is developed to avoid collision during lane change under driver torque. The lateral dynamics consist of lateral offset error and yaw error dynamics and can be interpreted as a semi-strict feedback form. In the differential braking control problem under the driver torque, a matching condition does not satisfy, and the system is not in the form of, the strict feedback form. Thus, a general backstepping control method cannot be applied. To overcome this problem, the proposed method is designed via the combination of the sliding mode control and backstepping. Two sliding surfaces are designed for differential braking control. One of the surfaces is designed considering the lateral offset error, and the other sliding surface is designed using the combination of the yaw and yaw rate errors as the virtual input of the lateral offset error dynamics. A brake steer force input is developed to regulate the two sliding surfaces using a backstepping procedure under the driver torque. Integral action and a super twisting algorithm are used in the lateral controller to ensure the robustness of the system. The proposed method, which is designed via the combination of the sliding mode control and backstepping, can improve the lateral control performance using differential braking. The proposed method is validated through simulations.
Highlights
More than 90% of accidents on highways are caused by human error [1,2]
(2) If the driver’s lane change intention is detected under the collision risk with a vehicle in the target lane or with a vehicle in the blind spot, the system warns the driver about the collision risk and the lateral control system is turned on. (3) The differential braking input calculated to ensure regulation of the lateral offset error, lateral offset error rate, yaw, and yaw rate by the differential braking control method maintains the vehicle on the original lane
We focus on the design of the differential braking control method to maintain the vehicle on the original lane
Summary
More than 90% of accidents on highways are caused by human error [1,2]. in the case of fatal vehicular accidents, the collision between vehicles occurs during lane change [3]. A situational assessment based on Stochastic model and Gaussian distributions was designed for intelligent vehicles [8] These systems cannot actively help a driver to avoid a collision. These use differential brake forces for steering intervention [15,16,17,18,19]. A nonlinear differential braking control method is developed to avoid collision during lane change under driver torque. The brake steer force input is developed to regulate two sliding surfaces using the backstepping procedure under the driver torque. The proposed method designed via the combination of the sliding mode control and the backstepping can improve the lateral control performance using differential braking. The performance of the proposed method is validated through simulations
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