Enhancing Vehicle Braking Performance on U-Split Road Through Active Steering Intervention

Abstract Active steering technology offers an innovative approach to enhance vehicle safety by enabling maneuvers beyond the driver’s reaction speed. This proactive control not only prevents potential hazards but also maximizes ground friction utilization, thereby elevating overall safety. The focus of this paper is on improving vehicle braking performance through active front wheel steering control, using braking on uneven road surfaces as an illustrative example. While historical research primarily concentrated on post-instability measures in braking dynamics, specifically on returning a vehicle to a stable state after instability, limited exploration has been undertaken regarding control strategies when a vehicle encounters hazardous road conditions. At this initial stage, various vehicle states remain within a relatively stable range, allowing for rational intervention and more effective control. Utilizing obstacle recognition and distance estimation, considering estimable distances between the vehicle and the uneven road surface, the study introduces a Model Predictive Control (MPC) algorithm with a time margin for optimal steering input computation. The algorithm incorporates a high-fidelity nonlinear vehicle model and the Magic Formula tire model as state equation constraints, integrating the constraints of the actual steering actuation system. Simulation results demonstrate that implementing the MPC algorithm with a time margin effectively reduces lateral deviation and yaw angle during braking on uneven road surfaces, ultimately enhancing overall braking stability.