A Unified Approach to Threat Assessment and Control for Automotive Active Safety

This paper presents the design of a novel active safety system preventing unintended roadway departures. The proposed framework unifies threat assessment, stability, and control of passenger vehicles into a single combined optimization problem. A nonlinear model predictive control (MPC) problem is formulated, where nonlinear vehicle dynamics, in closed-loop with a driver model, is used to optimize the steering and braking actions needed to keep the driver safe. A model of the driver's nominal behavior is estimated based on his observed behavior. The driver commands the vehicle, whereas the safety system corrects the driver's steering and braking actions in case there is a risk that the vehicle will unintentionally depart from the road. The resulting predictive controller is always active, and mode switching is not necessary. We show simulation results detailing the behavior of the proposed controller and experimental results obtained by implementing the proposed framework on embedded hardware in a passenger vehicle. The results demonstrate the capability of the proposed controller to detect and avoid roadway departures while avoiding unnecessary interventions.

• Record URL:
  • https://doi.org/10.1109/TITS.2013.2262097
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Authors:
  • Gray, Andrew
  • Gao, Yiqi
  • Hedrick, Karl J
  • Borrelli, Francesco
  • Ali, Mohammad
• Publication Date: 2013-9

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; References; Tables;
• Pagination: pp 1490-1499
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 14
  • Issue Number: 3
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Active safety systems; Braking; Crash avoidance systems; Human machine systems; Optimization; Risk assessment; Simulation; Steering
• Uncontrolled Terms: Predictive control
• Subject Areas: Data and Information Technology; Highways; Safety and Human Factors; I72: Traffic and Transport Planning; I83: Accidents and the Human Factor;

Filing Info

• Accession Number: 01524671
• Record Type: Publication
• Files: TLIB, TRIS
• Created Date: May 1 2014 4:36PM