Driver Assistance Safe Driving Envelope Determination and Control

Safe driving envelope can help drivers maneuver vehicles without risking instability. Traditional open-loop safe envelop is conservative, while closed-loop can enhance the vehicle performance through the control inputs feedback. This article firstly introduces the classic open-loop safe envelope determination method, based on which the closed-loop safe envelope is calculated through a numerical optimal control method. The open-loop and closed-loop safe envelope can work together to assess the potential risk of current vehicles. The optimal control law is also analyzed and verified through simulation in Simulink. The driver assistance potential applications are finally discussed.