Flatness-based electronic posture control (EPC) for accident avoidance

This document presents an active safety vehicle control system based on the differential-flatness approach. The strategy permits to control the vehicle´s posture at high speed and at the limit of handling conditions. Several hazard scenarios, such as intersections or the presence of obstacles, can create unsafe driving situations. By actively controlling the posture of the vehicle at high speed, one can mitigate or avoid crashes. A bicycle model with nonlinear tires is considered. After proving the vehicle´s differentially flat properties, a feedforward controller, based on the differential-flatness control theory, is derived. The efficiency of the proposed control strategy is evaluated through numerical simulations.