Model-based detection of critical driving situations with fuzzy logic decision making

被引：18

作者：

Börner, M ^{[1
]}

Isermann, R ^{[1
]}

机构：

[1] TH Darmstadt, Inst Automat Control, D-64283 Darmstadt, Germany

来源：

CONTROL ENGINEERING PRACTICE | 2006年 / 14卷 / 05期

关键词：

vehicle dynamics; parameter variation; stability analysis; critical driving situation; classification; fuzzy expert system;

D O I：

10.1016/j.conengprac.2004.11.008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A precise knowledge about the current driving condition is getting increasingly important for future driver assistance systems like global chassis control or collision avoidance systems for avoiding any critical driving situation. Moreover a precise knowledge about the driving situation can be used in testing, in evaluation, and for comparison of new passenger cars. A two degree of freedom model of vehicle lateral dynamics is used to derive a characteristic velocity stability indicator (CVSI). The CVSI is used to distinguish between different driving and stability conditions (i.e. understeering, oversteering, and neutral steering). This forms the basis for a driving condition detection system with fixed thresholds. It is then extended to a detection system with fuzzy logic thresholds. The CVSI and the fuzzy systems are compared experimentally using (i) a slalom test drive on an icy road and (ii) a stationary circular test drive on a dry asphalt road. (c) 2004 Elsevier Ltd. All rights reserved.

引用

页码：527 / 536

页数：10