Coordinated Steering and Braking Control for Roll Stability of Automated Driving Commercial Vehicles.

This paper presents a coordinated steering and braking control for roll stability of automated driving commercial vehicles. A vehicle mass estimator has been developed using a recursive least square estimation. The estimated mass is utilized for the steering control in the path tracking system and the braking control in the roll-over prevention system. The proposed algorithm enhanced the path tracking performance by compensating the vehicle mass effect. In the braking control, roll-over prevention system has been designed based on the load transfer ratio which is affected by the mass. The algorithm performance has been investigated via computer simulations. The results show that the proposed algorithms reduce the lateral distance error on the split-mu road compared to the pure-pursuit method.