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Coordinated Control of Active Steering and Differential Braking Using Extended Command Governor for Rollover Avoidance

[+] Author Affiliations
Ran Tian, Ricardo Bencatel, Anouck Girard, Ilya Kolmanovsky

University of Michigan, Ann Arbor, MI

Paper No. DSCC2017-5033, pp. V001T45A001; 10 pages
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5827-1
  • Copyright © 2017 by ASME


This paper develops an Extended Command Governor (ECG) for coordinated control of active steering and differential braking to prevent a vehicle from rolling over when undergoing aggressive maneuvers. The ECG modifies commands to well-designed closed-loop systems when necessary to prevent constraint violations. In this paper, the ECG is applied to a nonlinear vehicle model to maintain the vehicle in a safe state. For rollover avoidance, the ECG is designed to intervene and modify the driver’s input steering and braking commands when it predicts these signals may be unsafe and cause violation of the Load Transfer Ratio constraint. Simulation results show that the ECG can successfully detect and correct the unsafe commands to prevent constraint violation. Moreover, the ECG also behaves less conservatively than a previous design that used active steering control only. Specifically, the ECG described in this work allows the vehicle trajectory to stay closer to the desired trajectory.

Copyright © 2017 by ASME
Topics: Governors , Braking



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