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Towards Lane-Keeping Electronic Stability Control for Road-Vehicles

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Author

  • Kristoffer Lundahl
  • Björn Olofsson
  • Karl Berntorp
  • Jan Åslund
  • Lars Nielsen

Summary, in English

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.

Publishing year

2014

Language

English

Pages

6319-6325

Publication/Series

Proceedings of the 19th IFAC World Congress, 2014

Document type

Conference paper

Publisher

IFAC

Topic

  • Control Engineering

Conference name

19th IFAC World Congress, 2014

Conference date

2014-08-24 - 2014-08-29

Conference place

Cape Town, South Africa

Status

Published

Project

  • RobotLab LTH

Research group

  • LCCC
  • ELLIIT