Enhanced Vehicle Handling Performance for an Emergency Lane Changing Controller in Highway Driving
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© 2017 IEEE. In this paper, we present a solution to a subsystem of the emergency lane change safety system with enhanced vehicle handling performance. The primary objective of our research work is to propose a comprehensive treatment to a lane change active safety design from the dynamics, control, and decision making aspects with a two level framework. In our recent work , as a higher level controller, we present a decision strategy based on a discrete time Markov process to determine the safe lane utilizing a set of transition probabilities. These probabilities are calculated according to the distance of the subject vehicle from the surrounding vehicles. The output of decision process is fed to a lower level controller formulated using an HL scheme to move the vehicle to the desired lane. We use some of our results presented in , where an HL controller for a lane maneuver has been presented. We now introduce better modeling of nonlinearity of the vehicle. We formulate a synthesis methodology by taking into account the nonlinearities for increased tracking performance of a desired path by both controlling the active steering and yaw moment of the vehicle. Simulations are carried out to show the improved stability and performances over the entire operation range.
author list (cited authors)
Coskun, S., & Langarit, R.