| ENVIRONMENT-ON-BOARD PREDICTIVE BRAKING CONTROL FUNCTIONS FOR AUTONOMOUS DRIVING DURING SUDDEN CHANGES IN THE ROAD FRICTION COEFFICIENT ON SHARP CURVES
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| Toshinori Kojima, Pongsathorn Raksincharoensak |
| Tokyo University of Agriculture and Technology |
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| ABSTRACT |
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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.
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| Key Words:
Vehicle dynamics, Autonomous driving, Advanced driver assistance systems, Lane departure prevention, Longitudinal vehicle control, Connected vehicles
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Corresponding Author.
Pongsathorn Raksincharoensak , Email. 
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