Name
Abstract | ||
|---|---|---|
This paper presents the design of an active safety system for prevention of unintended roadway departures. In normal driving conditions, the driver fully commands the vehicle while the safety system corrects the driver's steering and braking action in case there's a risk that the vehicle unintentionally departs the road. A model of the driver's nominal behavior is first estimated based on his or her observed behavior. A nonlinear model of the vehicle in closed loop with the driver is then used to reformulate the threat assessment and control problems as a combined optimization problem. The resulting predictive controller is always active and mode switching is not necessary. Experimental data collected using human drivers in a driver simulator demonstrate the capability of the suggested controller to detect and avoid roadway departures while avoiding unnecessary interventions. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ITSC.2012.6338781 | ITSC |
Keywords | Field | DocType |
behavioural sciences,braking,closed loop systems,control system synthesis,nonlinear control systems,optimisation,predictive control,road traffic control,road vehicles,safety systems,steering systems,active safety system design,closed loop,control design,driver braking action,driver nominal behavior,driver simulator,driver steering action,human driver,nonlinear model,normal driving condition,optimization problem,predictive controller,road vehicle,roadway departure avoidance,threat assessment,trajectory,behavior,steering,tires,estimation,force | Automotive engineering,Control theory,System safety,Road traffic control,Simulation,Detect and avoid,Model predictive control,Threat assessment,Engineering,Optimization problem,Trajectory | Conference |
ISSN | ISBN | Citations |
2153-0009 E-ISBN : 978-1-4673-3062-6 | 978-1-4673-3062-6 | 3 |
PageRank | References | Authors |
0.50 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| andrew n gray | 1 | 3 | 0.50 |
| Mohammad Ali | 2 | 37 | 5.12 |
| Yiqi Gao | 3 | 98 | 7.76 |
| J. Karl Hedrick | 4 | 691 | 87.42 |
| Francesco Borrelli | 5 | 1466 | 147.53 |