Title: The emergency steering of a heavy truck by front-wheel braking

Authors: Gabor Rodonyi, Peter Gaspar, Jozsef Bokor

Addresses: Systems and Control Laboratory, Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, H-1111 Budapest, Hungary. ' Systems and Control Laboratory, Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, H-1111 Budapest, Hungary. ' Systems and Control Laboratory, Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, H-1111 Budapest, Hungary

Abstract: A robust control synthesis method is presented for an emergency steer-by-brake problem of a heavy truck. The goal is to provide automated steering function for a truck with a mechanic-pneumatic steering system, where the only possibility for automated intervention is the use of the electronic brake system. This problem is motivated by situations when the driver becomes incapable of controlling the vehicle due to some lipothymy or drowsiness. Assuming an emergency detection and path planning system that defines yaw-rate reference for navigating the vehicle, the reference-tracking control is designed by an iterative algorithm and illustrated by Matlab/Simulink simulation.

Keywords: robust control; uncertainty modelling; steer-by-brake; path following; emergency steering; heavy trucks; heavy vehicles; front wheel braking; mechanical-pneumatic steering; electronic braking; emergency detection; path planning; yaw-rate reference; vehicle navigation; tracking control; simulation.

DOI: 10.1504/IJHVS.2011.040499

International Journal of Heavy Vehicle Systems, 2011 Vol.18 No.2, pp.135 - 160

Published online: 31 May 2011 *

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