Combining active steering and independent wheels braking for CIVIC lateral assistance

This paper addresses the problem of integrated vehicle-infrastructure-driver control (CIVIC). Both vehicle handling improvement and lane keeping support are considered. The control synthesis procedure uses a linear driver-vehicle-mode model, which includes the yaw motion and disturbance input with speed and road adhesion variations. The synthesis procedure allows the separate processing of reference signal tracking, robust stabilization and disturbance rejection. The control action is performed as a combination of additional steering angle and a yaw moment generated by differential wheel braking. It uses a combination of the driver input, feedback of the yaw rate and vehicle positioning. The synthesized controller is tested for different speeds and road conditions on a nonlinear model in both disturbance rejection, driver imposed yaw reference tracking maneuvers and lane keeping. Preliminary validation using data from an experimental test track is included.