Emergency Steering Evasion Control by Combining the Yaw Moment with Steering Assistance

Paper #:
  • 2018-01-0818

Published:
  • 2018-04-03
Abstract:
The coordinated control of stability and steering systems in collision avoidance steering evasion has been widely studied in vehicle active safety area, but it is mainly aimed at conventional autonomous vehicle. This paper focuses on the hybrid electric vehicle integrated with rear hub motors in emergency steering evasion scenario. First, the mathematic models of vehicle dynamics and driver has been given. Second, based on the planned steering evasion path, the model predictive control method is proposed for achieving higher evasion path tracking accuracy under driver's steering input. The prediction model including an adaptive preview distance driver model and a vehicle dynamics model to predict the driver input and the vehicle trajectory. The rolling optimization balances not only the lateral tracking error, but also the driver acceptance with considering the vehicle stability, the limitation of motor ability and the state of charge of battery are considered as well. The real input from driver and vehicle real time trajectory are used as feedback correction, and the characteristics of driver is considered as a coefficient during correction. Third, a distribution strategy is designed between the active front steering system and yaw moment control system, before the electric stability control system is triggered due to the loss of vehicle stability, the rear hub motors based differential braking generates the yaw moment compensation due to faster and more accurate regulation. By using the yaw moment and steering combined assistance, the tracking accuracy and vehicle stability in emergency steering evasion has been improved. The effectiveness of the proposed control method is verified by CarSim-MATLAB/Simulink driving simulator.
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