Enhanced vehicle handling performance for an emergency lane changing controller in highway driving

摘要

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 [15], 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 [15], 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.