The design of a brake control to improve road holding

Abstract

A robust control synthesis method is presented for an emergency steer-by-brake problem of a heavy truck. The goal is to provide automated steering function for a truck with a mechanic-pneumatic steering system, where the only possibility for automated intervention is the use of the electronic brake system. This problem is motivated by situations when the driver becomes incapable of controlling the vehicle due to some lipothymy or drowsiness. Assuming an emergency detection system and a higher level control strategy that defines yaw-rate reference for navigating the vehicle, the low level reference tracking control is designed by the H_\infty method and illustrated by Matlab/Simulink simulation.