Nonlinear lateral vehicle control in combined emergency steering and braking maneuvers

This paper presents a new nonlinear control scheme for lateral vehicle guidance in combined emergency steering and braking maneuvers. It is based on a vehicle model which considers the nonlinear coupling between the lateral and longitudinal tire forces by means of a friction ellipse. The derived model belongs to the class of nonlinear systems with time-varying model parameters. A follow-up controller is designed by adapting the well-known method of input-output linearization to the present class of a time-varying plant model. Using the example of a pedestrian collision avoidance maneuver the advantages of the proposed nonlinear control scheme compared to standard linear lateral vehicle control are demonstrated.