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Predictive Prevention of Loss of Vehicle Control for Roadway Departure Avoidance

Mohammad Ali (Institutionen för signaler och system, Mekatronik) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik ; SAFER - Fordons- och Trafiksäkerhetscentrum ) ; Claes Olsson ; Jonas Sjöberg (Institutionen för signaler och system, Mekatronik)
IEEE transactions on intelligent transportation systems (1524-9050). Vol. 14 (2013), 1, p. 56-68.
[Artikel, refereegranskad vetenskaplig]

In this paper, we investigate predictive approaches to the problem of roadway departure prevention via automated steering and braking. We assume a sensing infrastructure detecting road geometry and consider a two-layer accident avoidance framework consisting of a threat assessment and an intervention layer. A novel active safety function for prevention of loss of vehicle control is proposed and implemented using the considered accident avoidance framework. Simulation and experimental results are presented, showing that the proposed approach effectively exploits road preview information to prevent the vehicle from operating in regions of the state space where standard electronic stability control systems are normally activated.

Nyckelord: Active safety; automated vehicles; global chassis control; model predictive control; threat assessment; vehicle stability

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Denna post skapades 2013-03-08. Senast ändrad 2017-06-28.
CPL Pubid: 174541


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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)
SAFER - Fordons- och Trafiksäkerhetscentrum



Chalmers infrastruktur