The Criticality Index Development for Steering Evasive Maneuver Based on Mixed H2/H∞Control with Parameter Uncertainties

Braking and steering are the typical crash avoidance maneuvers to overcome a hazardous situation. Generally, braking is a preferred measure at low speed and steering becomes an efficient alternative as speed increases. However, determining the optimum evasive maneuver in all hazardous situations is challenging since a complete evaluation of all driving complications is difficult to achieve. This paper proposes a methodology to evaluate steering evasive maneuver using mixed H
₂
/H
_∞
control in the presence of parameter uncertainties. Vehicle side slip angle and evasive trajectory tracking errors are considered for stability and tracking performance. D-stability is employed in order to consider the transient response of the controller. Then, the criticality index is developed by solving sets of linear matrix inequalities (LMIs) and bilinear matrix inequalities (BMIs) to evaluate steering evasive maneuver.