A PREDICTIVE APPROACH TO ROADWAY DEPARTURE PREVENTION
Paper i proceeding, 2009
In this paper, we investigate predictive control approaches to the problem of
roadway departure prevention via steering and braking. We assume a sensing
infrastructure detecting road geometry and consider a two layers architecture
consisting of a threat assessment and an intervention layer. In particular, the
upper threat assessment layer detects the risk of roadway departure or vehi-
cle instability within a future time horizon. If a risk of roadway departure or
vehicle instability is detected, the lower intervention layer is enabled. The lat-
ter is designed based on Model Predictive Control (MPC) approaches, where
steering and braking interventions are the result of an optimization problem.
This is formulated on the basis of vehicle state measurements and coming road
information (e.g., road geometry, surface adhesion) and repeatedly solved over
a moving future time horizon.
Simulation and experimental results are presented, showing that the proposed
approach eﬀectively exploits road preview capabilities in order to issue earlier
and less intrusive interventions, compared to standard Electronic Stability Con-
trol (ESC) systems.
Global Chassis Control
Model Predictive Control