Handling Enhancement of Autonomous Emergency Steering for Reduced Road Friction Using Steering and Differential Braking

Steering has more potential than braking to prevent rear-end collisions at higher relative velocities. A path tracking controller based on multi-input multi-output (MIMO) model predictive control (MPC) is proposed enhance the handling performance of autonomous emergency steering in this paper. six-state MIMO bicycle including actuator dynamics and differential used for prediction. Two inputs are front wheel angle direct yaw moment. outputs lateral displacement heading angle. According work load ratios four wheels, allocation determine optimal force distribution tire saturation. The a single-input single-output (SISO) MPC that uses only track desired employed benchmark algorithm. Simulation results show both SISO can nominal road surface with high friction coefficient 0.9. For medium 0.7, unable loses directional stability. However, still demonstrate robust enhancement against uncertainty due reduced friction.