@article{ref1,
title="Environment-on-board predictive braking control functions for autonomous driving during sudden changes in the road friction coefficient on sharp curves",
journal="International journal of automotive technology",
year="2022",
author="Kojima, Toshinori and Raksincharoensak, Pongsathorn",
volume="23",
number="2",
pages="451-460",
abstract="In the context of automated and connected vehicle technology, this paper proposes an environment-on-board predictive braking control system, regulating the vehicle velocity to a desired value, in order to enhance path-following performance and vehicle stability when a vehicle is driven on a path where the road friction coefficient changes suddenly on a curve. In this study, we assume that the vehicle enters a wet road from a dry road and moves on to a dry road, and that the forward road surface friction condition can be estimated. In such driving situation, the objective of the vehicle dynamics control system is to improve path-following performance and vehicle stability of automated vehicle, even under abnormal road conditions. To achieve this objective, the predictive braking control is designed to track a safe velocity which is determined based on a simplified linear two-degree-of-freedom bicycle and a 2nd order look-ahead driver model. The effectiveness of this control system is verified using a nonlinear four-degree-of-freedom four-wheel model under various conditions, with varying road friction coefficients and curvatures. Finally, the effectiveness is evaluated using a full vehicle model of the IPG CarMaker, which is similar to an actual vehicle.<p /> <p>Language: en</p>",
language="en",
issn="1229-9138",
doi="10.1007/s12239-022-0041-y",
url="http://dx.doi.org/10.1007/s12239-022-0041-y"
}