Time-Optimal Vehicle Posture Control to Mitigate Unavoidable Collisions Using Conventional Control Inputs

摘要

This paper analyzes the mitigation of an unavoidable T-bone collision, where an "intelligent" vehicle executes an aggressive time-optimal rotation to achieve a favorable relative orientation with another vehicle prior to impact. The current paper extends the previous work by the authors on this problem, by modeling additional vehicle dynamics (neglected in the prior work) and by utilizing conventionally available control commands (that is, steering, braking, handbrake) for the maneuvering vehicle. The commands can either be applied directly by a trained driver, or (as in the majority of cases) can be executed with the help of a combination of an Active Front Steering (AFS) and an Electronic Stability Control (ESC) system onboard the vehicle. The optimal yaw rotation maneuver is analyzed for different initial speeds on both dry and wet asphalt. The results confirm the existence of an "option zone" for some cases, within which such an aggressive maneuver may be possible and perhaps even preferable to straight line braking.