An Advanced Driver Assistance System by Using State Dependent Riccati Equation Technique

The aim of the present paper is to consider coordination of steering and individual wheel braking actuated vehicle dynamics controller by proposing the solution of state dependent Riccati Equation as an optimal controller applied to stabilize the lateral dynamics of the vehicle subjected to sudden disturbance inputs in the lateral direction. The optimal controller with capability of controlling individual braking and steering actuators' outputs simultaneously in a coordinated manner is proposed. The main goal is to stabilize the lateral dynamics of the vehicle by intervening to the vehicle motion dynamics during short-term emergency situations where the average driver may exhibit panic reaction and control authority failure. Simulation results are used to illustrate the effectiveness of the proposed approach