Emergency Steering Research Articles

Collision Avoidance Via Emergency Steering Warning System: A Driving Simulator Approach

This study analyzes the viability of an Emergency Steering Warning System (ESWS) to improve the safety of vehicles on highways traveling in the same direction. The proposed system evaluates the vehicle’s physical limits, driver’s reaction and assists in making the most logical decision to avoid a crash using a sound or a similar stimulus. Typical driving simulator events were designed in MATLAB/Simulink and IPG/CarMaker co-simulation environment. In the predetermined scenario, the leading vehicles suddenly move into the host vehicle’s lane and the driver is expected to avoid crash by either steering or braking. The ESWS system generates a sound stimulus when it is determined that the crash is unavoidable with the use of service brakes and the only way to avoid the obstacle is steering. The simulation events were performed by a group of participants using a driver simulator with and without the ESWS system. The proposed ESWS encouraged participants to do an earlier and smoother steering maneuver which can be advantageous in some certain critical traffic situations. The statistical results showed that the sound stimulus reduced the drivers’ reaction time significantly and a number of accidents can be avoided by the suggested crash warning system.

Research on coordinated control of electronic stability program and active suspension system based on function allocation and multi-objective fuzzy decision

The stabilities of the handling and rollover are the two important performance of the vehicle and play an important role in vehicle safe driving. Focusing on improving the handling and rollover stabilities, a new approach to realize the coordinated control of the electronic stability program and the active suspension system is proposed. The vehicle model including the active suspension system has been built. The distance between vehicle centroid and the front and rear axles is estimated by the forgetting factor recursion least squares method on the basis of the vertical motion of the vehicle. The parameter self-tuning fuzzy proportional–integral–derivative control of the electronic stability program is adopted and the 2-degree-of-freedom vehicle model considering the changes of the distance between vehicle centroid and the front and rear axles is treated as the reference model. The active suspension system controller is designed according to the different functions of the active suspension system in different vehicle status areas. The function allocation controller is also designed using multi-objective fuzzy decision, which is used to realize the allocation control of the active suspension system and electronic stability program. Under the double-lane change conditions, the function allocation control has been simulated based on MATLAB/Simulink software, which results indicate that the function allocation control strategy of electronic stability program and active suspension system can significantly improve the manipulation and rollover stability of the vehicle at a high speed under emergency steering. Finally, the function allocation controller is installed to the active suspension system and electronic stability program hardware-in-loop test platform, and the hardware-in-loop test has been done, which results are consistent with the results of simulation.

A Study on Finite Element Analysis of Electric Bus Frame for Lightweight Design

The air pollution becomes a risk to health with the increasingly growing of car ownership in China. Due to the increase of energy crisis and environmental pollutant, the electric vehicle is becoming a promising transport in the urban area. However, the drawback of the electric vehicle lies in the endurance of the vehicle battery. Therefore, the lightweight design which adopts both the structural steel and the aluminum alloy can reduce the weight of the vehicle body extending the battery life between charges. In this paper, we used a finite element analysis (FEA) method for the lightweight optimization of the electric bus frame. Four driving condition (full load bending condition, torsional condition, emergency braking and emergency steering) were considered for the analysis. By changing the structure of bus frame, the weight of the bus reduced while the mechanical property improved under the adopted driving condition.

Collision Avoidance via Adaptive Trajectory Control in Case of a Sudden Decrease in the Maximum Road Friction Coefficient

This study analyses an Adaptive Trajectory Control (ATC) system in case of a sudden change in μ-max (maximum tyreroad friction coefficient) during an emergency lane change manoeuvre in order to maintain the driving safety. Autonomous front wheel steering (FWS) systems have been developed for emergency steering situations. The trajectory design is also a part of these systems. Moreover, in this study ATC has been designed by sensing μ-max to complete the emergency steering manoeuvre successfully. Therefore, the originality of this paper arises from the necessity of a trajectory change in case of a sudden change in μ-max to minimize the distance between the desired and the actual path. Suitable cases were designed by using a two-track model in IPG/CarMaker (MATLAB/Simulink). Results show that ATC could be used during an emergency steering manoeuvre in case of a sudden decrease in μ-max as it can be advantageous in certain critical traffic situations. Therefore, ATC could beused as an alternative system instead of Electronic Stability Program.

Novel stability control strategy for distributed drive electric vehicle based on driver operation intention

In this paper, a novel direct yaw control method based on driver operation intention for stability control of a distributed drive electric vehicle is proposed. It was discovered that the vehicle loses its stability easily under an emergency steering alignment (EA) problem. An emergent control algorithm is proposed to improve vehicle stability under such a condition. A driver operation intention recognition module is developed to identify the driving conditions. When the vehicle enters into an EA condition, the module can quickly identify it and transfer the control method from normal direct yaw control to emergency control. Two control algorithms are designed. The emergency control algorithm is applied to an EA condition while the adaptive control algorithm is applied to other conditions except the EA condition. Both simulation results and real vehicle results show that: The driver module can accurately identify driving conditions based on driver operation intention. When the vehicle enters into EA condition, the emergent control algorithm can intervene quickly, and it has proven to outperform normal direct yaw control for better stabilization of vehicles.

Emergency Steering Assist for Collision Avoidance

Dr. Alois Seewald is Technical Director for Integrated Active and Passive Safety Technologies at TRW in Dusseldorf (Germany). Dr. Carsten Has is Engineering Manager for Integrated Active and Passive Safety Technologies at TRW in Dusseldorf (Germany). Martin Keller is Scientifi c Assistant at the Department of Control System Technology of the TU Dortmund (Germany). Univ.-Prof. Dr.-Ing. Prof. h. c. Dr. h. c. Torsten Bertram is Head of the Department of Control System Technology of the TU Dortmund (Germany). Emergency Steering Assist for Collision Avoidance

Sistema de apoio à decisão na comunicação de acidentes graves

Devido à actividade de produção, manuseamento, armazenagem e transporte de substâncias químicas perigosas numa área industrial, pode ocorrer um grave acidente químico, que pode afectar as empresas vizinhas e a população envolvente. Perante os vários cenários de danos físicos e humanos, o objectivo deste projecto centrou-se no desenvolvimento de uma aplicação de apoio à decisão na comunicação de acidentes graves às autoridades de protecção civil. A aplicação de metodologias, com recurso a software específico, resultaram no desenvolvimento de uma aplicação que visa permitir e facilitar esta tomada de decisões, apoiando a direcção de emergência das empresas a gerir este tipo de comunicações em situações de crise.

Kinematics and Shoulder Belt Position of Child Anthropomorphic Test Devices During Steering Maneuvers

Objectives: The objective of this study was to quantify and compare the kinematics and shoulder belt position of child anthropomorphic test devices (ATDs) during emergency steering maneuvers. Furthermore, the ATDs were compared to the results from child volunteers aged 4 to 12 in the same test setup (Bohman, Stockman, et al. 2011). Methods: A driving study was conducted on a test track comprising 4 ATDs: the Q6, Q10, and Hybrid III (HIII) 6- and 10-year-old ATDs restrained in the rear seat of a passenger vehicle. The ATDs were exposed to 2 repeated steering maneuvers in each restraint system. The Q6 and HIII 6-year-old were restrained on booster cushions as well as high-back booster seats. The Q10 and HIII 10-year-old were restrained on booster cushions or restrained by 3-point seat belts directly on the seat. Lateral motion of the forehead and upper sternum was determined, as well as shoulder belt movement on shoulder and torso tilting angle. Results: All ATDs began to move approximately at the same point in time corresponding to a vehicle lateral acceleration of just below 0.2 g. In the later phase of the maneuver, Q10 had moved 26 percent less than the children when restrained by seat belt only and 35 percent less when on a booster cushion. Corresponding numbers for the HIII 10-year-old were 43 and 44 percent higher than for children. Compared to children, the Q6 had moved 34 percent less when restrained on a high-back booster seat and 31 percent less when on a booster cushion. Corresponding numbers for HIII 6-year-old were 7 and 28 percent higher than for children. Due to extensive variety of lateral displacements observed in the children, child performance range covers both ATD families for the evaluated sizes of 6- and 10-year-old ATDs. Conclusions: Compared to children, the HIII ATDs were closer with regards to mean values in the initial phase of the maneuver and the Q ATDs were closer in the end of the ramping phase of the lateral acceleration. The question regarding which ATD replicates better the behavior of children exposed to steering maneuvers still remains open. As shown in this study, it depends on the focus of the comparison and on what phase of the maneuver is of interest. This study provides valuable knowledge on how representative the current ATDs are for replicating potential precrash postures of children as a result of vehicle emergency steering maneuvers for a variety of restraint systems and ATD sizes.

하이브리드 상용차용 경량 비상조향장치 유압방향제어밸브의 성능특성 연구

Hydraulic directional control valves actuated by solenoid are used to control emergency steering in general or hybrid electric commercial vehicles. In this study, a new lightweight hydraulic directional control valve was designed by flow and structural simulation, and was fabricated; the basic operation, pressure differentials, and inner leakage flow were evaluated experimentally. In the results, the new model showed comparable performance with an existing imported valve. New valve was 80% the weight of the existing valve and had few components. Installing this valve on a truck body is easier because of its compactness and small size.

The emergency steering of a heavy truck by front-wheel braking

A robust control synthesis method is presented for an emergency steer-by-brake problem of a heavy truck. The goal is to provide automated steering function for a truck with a mechanic-pneumatic steering system, where the only possibility for automated intervention is the use of the electronic brake system. This problem is motivated by situations when the driver becomes incapable of controlling the vehicle due to some lipothymy or drowsiness. Assuming an emergency detection and path planning system that defines yaw-rate reference for navigating the vehicle, the reference-tracking control is designed by an iterative algorithm and illustrated by Matlab/Simulink simulation.

AUTOMATIC STEERING AND BRAKING FOR A COLLISION AVOIDING VEHICLE

A collision avoiding vehicle driver assistance system is developed using braking, steering or a combination of steering and braking. To guide a vehicle on a desired trajectory for emergency steering, two feedback control approaches are presented. The combined steering and braking intervention requires a further control system. The estimation of the sideslip angle is based on a nonlinear vehicle state estimation approach.Simulation results with a validated nonlinear two-track model and results from test drives are shown.Topic: G (Mechatronic systems and applications)

2213 路面反力推定を用いた電動パワーステアリングによる車両安定化制御の開発(システム同定・解析II,OS3 交通・物流システムのダイナミクスと制御,一般講演)

This paper proposes an advanced control strategy to improve steering maneuverability both on emergency steering and on slippery roads, with the Torque Controlled Active Steering, which means Electric Power Steering with advanced control method. This controller which is constructed based on self-aligning torque estimation and feedback compensation, aims to improve returnability by using the self-aligning torque estimator, that is applicable in various situations. We experiment with this control strategy and it confirms that our controller improves vehicle dynamics stability.

The Sergo Zakariadze Response and Refloating: Timelines are not Concrete

ABSTRACT On November 18, 1999, the 605-foot Russian-flagged motor vessel Sergo Zakariadze lost steering while returning to the Port of San Juan, Puerto Rico after the passage of Hurricane Lenny. The pilot and vessel's crew attempted to engage various alternate and emergency steering systems to regain control without success. The vessel's engine engaged full astern too late, and the Sergo Zakariadze grounded with over 200,000 gallons of oil and over 17,000 tons of cement dust aboard. The vessel grounded at the base of the historic 500-year-old Castle El Morro, just 50 yards outside San Juan's economically vital Bar Channel. A Unified Command (UC) was established with the following overall incident objectives: safety of people (responders, crew, public); removal of oil/fuel from the vessel; protection of cultural, archeological, and environmental resources including underwater resources; protection of the San Juan Bar Channel; and removal of the vessel from its El Morro location. A three-phased response was mounted: (1) removal of oil products onboard the vessel, (2) removal of cargo necessary to refloat the vessel, and (3) refloating of the vessel. Encountering and overcoming a myriad of logistical, environmental response, weather, and operational challenges, the Sergo Zakariadze was refloated successfully on March 29, 2000. The response included oil lightering, cement dust offload, set-up cement removal, and vessel salvage operations. Although the response spanned 4 months, it was viewed as very successful from community, media, and stakeholder perspectives. This success was due to the UC being composed of a broad cross section of stakeholders, an aggressive outreach effort, an active listening program, and recognition of actual and potential community perceived hazards associated with the response operation. This paper will describe some of the issues and challenges that the UC addressed and some of the lessons that were learned. This paper will not recount the details of all facets of the actual response and salvage operations.