An Investigation of Optimal Vehicle Maneuvers for Different Road Conditions
We investigate optimal maneuvers for road-vehicles on different surfaces such as asphalt,
snow, and ice. The study is motivated by the desire to find control strategies for improved future
vehicle safety and driver assistance technologies. Based on earlier presented measurements for tire-
force characteristics, we develop tire models corresponding to different road conditions, and determine
the time-optimal maneuver in a hairpin turn for each of these. The obtained results are discussed
and compared for the different road characteristics. Our main findings are that there are fundamental
differences in the control strategies on the considered surfaces, and that these differences can be captured
with the adopted modeling approach. Moreover, the path of the vehicle center-of-mass was found to
be similar for the different cases. We believe that these findings imply that there are observed vehicle
behaviors in the results, which can be utilized for developing the vehicle safety systems of tomorrow.
Björn Olofsson, Kristoffer Lundahl, Karl Berntorp and Lars Nielsen
2013
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