Towards Lane-Keeping Electronic Stability Control for Road-Vehicles
The emerging new idea of lane-keeping electronic stability control
is investigated. In a critical situation, such as entering a road
curve at excessive speed, the optimal behavior may differ from the behavior of traditional
ESC, for example, by prioritizing braking over steering response. The
important question that naturally arises is if this has a
significant effect on safety. The main contribution here is to give
a method for some first quantitative measures of this. It is based
on optimal control, applied to a double-track chassis model with wheel dynamics and
high-fidelity tire-force modeling. The
severity of accidents grows with the square of the kinetic
energy for high velocities, so using kinetic energy as a measure will at least not
overestimate the usefulness of the new safety system principle. The main result is
that the safety gain is significant compared to traditional
approaches based on yaw rotation, for several situations and different road-condition parameters.
Kristoffer Lundahl, Björn Olofsson, Karl Berntorp, Jan Åslund and Lars Nielsen
2014
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