Principles of the Active Collision Mitigation System for Vehicles Involved in Light Impact

András Mihaly (1) , Peter Gaspar (2) , Zoltan Szabo (2) , Olivier Sename (3) , Luc Dugard (3)

1 BME - Budapest University of Technology and Economics [Budapest]
2 Systems and Control Laboratory, Computer and Automation Research Institute
3 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

The paper presents a collision mitigation method in which the aim is to stabilize the motion of the vehicle after a light impact has occurred. A yaw rate servo control based on the bicycle model is applied for control purposes. The collision is assumed to have been detected by a passive safety system, e.g., airbag sensors. The control system is activated by the monitoring signal. After the collision has occurred the motion of the vehicle and the operation of the control system are illustrated through CarSim simulation examples. Two control solutions are analyzed: in the first case active steering is used while in the second case steering is combined with differential braking. With the knowledge of certain vehicle parameters and the impact force and direction, post impact vehicle states (yaw rate, velocities, roll rate) can be analyzed. A sensitivity analysis is carried out to determine the validity range of the vehicle model in the presence of uncertainties and different kinds of impact forces. Several software packages are used for the design and analysis of the controlled system. The control design is performed by using the Matlab/Simulink software and the verification of the designed controller is performed by using the CarSim software.

Mots clés: collision mitigation; yaw control; bicycle model; integrated control

Domaines: Automatique / Robotique

András Mihaly, Peter Gaspar, Zoltan Szabo, Olivier Sename, Luc Dugard. Principles of the Active Collision Mitigation System for Vehicles Involved in Light Impact. VSDIA 2012 - 13th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, Nov 2012, Budapest, Hungary. pp. 539 - 546. ⟨hal-00940243⟩