편경사 도로에서의 차량 안정성 제어를 위한 차등제동 분배

A detection or estimation of bank angle was investigated by many researchers to hold the vehicle stability controller or to ensure the robustness of the lateral velocity estimator. Furthermore, the controller which utilizes lateral velocity estimate can be designed by considering the bank angle effects. Since a driver could not recognize the bank angle effect, he or she steers in the same way either driving on a road with or without bank angle in critical driving situation. With bank angle estimator, the vehicle stability control logic and its desired values are modified to compensate the bank angle effects. To investigate the driver’s reaction on obstacle avoidance maneuver, the Human-in-the-loop evaluation is applied by using driving simulator. By using the modified VSC logic, the driver reacts similarly on both banked road and flat road in the same emergency driving situation. Therefore the proposed control logic is said to be preventing a driver from misjudgment on a bank road.