Driver drowsiness and distraction are two main reasons for traffic accidents and the related financial losses. Therefore, researchers have been working for more than a decade on designing driver inattention monitoring systems. As a result, several detection techniques for the detection of both drowsiness and distraction have been proposed in the literature. Some of these techniques were successfully adopted and implemented by the leading car companies. This paper discusses and provides a comprehensive insight into the well-established techniques for driver inattention monitoring and introduces the use of most recent and futuristic solutions exploiting mobile technologies such as smartphones and wearable devices. Then, a proposal is made for the active of such systems into car-to-car communication to support vehicular ad hoc network's (VANET's) primary aim of safe driving. We call this approach the dissemination of driver behavior via C2C communication. Throughout this paper, the most remarkable studies of the last five years were examined thoroughly in order to reveal the recent driver monitoring techniques and demonstrate the basic pros and cons. In addition, the studies were categorized into two groups: driver drowsiness and distraction. Then, research on the driver drowsiness was further divided into two main subgroups based on the exploitation of either visual features or nonvisual features. A comprehensive compilation, including used features, classification methods, accuracy rates, system parameters, and environmental details, was represented as tables to highlight the (dis)advantages and/or limitations of the aforementioned categories. A similar approach was also taken for the methods used for the detection of driver distraction.

Driver Behavior Analysis for Safe Driving: A Survey

The inherent flexibility of hierarchical structure scheme with main-servo loop control structure is proposed to the problem of integrated chassis control system for the vehicle. It includes both main loop, which calculates and allocates the aim force using the optimal robust control algorithm and servo loop control systems, which track and achieve the target force using the onboard independent brake actuators. In fact, for the brake actuator, the aim friction is obtained by tracking the corresponding slip ratio of target force. For the coefficient of tire-road friction varying with different road surface, to get the nonlinear time-varying target slip ratio, the most famous quasi-static magic formula is proposed to estimate and predict real-time coefficient of different road surface and the constrained hybrid genetic algorithm (GA) is used to identify the key parameters of the magic formula on-line. Then, a self-tuning longitudinal slip ratio controller (LSC) based on the nonsingular and fast terminal sliding mode (NFTSM) control method is designed to improve the tracking accuracy and response speed of the actuators. At last, the proposed integrated chassis control strategies and the self-tuning control strategies are verified by computer simulations.

Study on Self-Tuning Tyre Friction Control for Developing Main-Servo Loop Integrated Chassis Control System

Variable time delays exist between the driver's inputs and the responses of the vehicle dynamic states during a critical steering course. And due to the delay of active brake actuators, a sideslip or a rollover may occur even to a vehicle with a traditional stability control system. In addition, the unnecessary intervention of rollover prevention controller may deteriorate yaw stability of a vehicle in these situations. To mitigate the adverse effect of time delay on vehicle stability control and to realize coordinated stability control, a novel three-dimensional dynamic stability controller (3DDSC) is designed for yaw stability control, yaw–roll stability control and rollover prevention control. The framework consists of a supervisor, an upper controller, and a lower controller. A nonlinear vehicle model is used in the supervisor to predict the vehicle's future states and to determine the control mode and the related controllable areas with active brake method. Then model predictive control is used in the upper controller to calculate the desired tire forces of four wheels under the constraints of the given controllable area; then, the desired tire forces are realized by a lower hydraulic pressure controller. The proposed 3DDSC is evaluated with a CarSim–MATLAB cosimulation and hardware-in-the-loop simulation. The results show that 3DDSC can achieve a seamless integration of lateral stability and rollover prevention in complicated steering maneuvers.

A Three-Dimensional Dynamics Control Framework of Vehicle Lateral Stability and Rollover Prevention via Active Braking With MPC

Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits

This paper proposes a novel integrated controller with three-layer hierarchical structure to coordinate the interactions among active suspension system (ASS), active front steering (AFS) and direct yaw moment control (DYC). First of all, a 14-degree-of-freedom nonlinear vehicle dynamic model is constructed. Then, an upper layer is designed to calculate the total corrected moment for ASS and intermediate layer based on linear moment distribution. By considering the working regions of the AFS and DYC, the intermediate layer is functionalised to determine the trigger signal for the lower layer with corresponding weights. The lower layer is utilised to separately trace the desired value of each local controller and achieve the local control objectives of each subsystem. Simulation results show that the proposed three-layer hierarchical structure is effective in handling the working region of the AFS and DYC, while the quasi-experimental result shows that the proposed integrated controller is able to improve the lateral and vertical dynamics of the vehicle effectively as compared with a conventional electronic stability controller.

Chassis Integrated Control for Active Suspension, Active Front Steering and Direct Yaw Moment Systems Using Hierarchical Strategy

Sideslip angle plays an important role in vehicle stability control. However, it is difficult to measure directly unless some complex and expensive devices are employed. Thus, sideslip angle estimated by vehicle states such as lateral acceleration, yaw rate and so on is required in real-time vehicle stability control. A new variable structure extended Kalman filter integrated with the sideslip angle rate feedback algorithm and damping item is proposed in this paper. The main idea of the sideslip angle rate feedback algorithm is to compensate the model error caused by road friction estimation inaccuracy while that of the damping item is to suppress the error accumulation. The estimated results are compared with the real values obtained by the differential global position system on a low friction road and it shows that the proposed methodology can provide accurate sideslip angle to some extent for vehicle stability control.

A variable structure extended Kalman filter for vehicle sideslip angle estimation on a low friction road

Direct yaw moment control (DYC), which differentially brakes the wheels to produce a yaw moment for the vehicle stability in a steering process, is an important part of electric stability control system In this field, most control methods utilise the active brake pressure with a feedback controller to adjust the braked wheel However, the method might lead to a control delay or overshoot because of the lack of a quantitative project relationship between target values from the upper stability controller to the lower pressure controller Meanwhile, the stability controller usually ignores the implementing ability of the tyre forces, which might be restrained by the combined-slip dynamics of the tyre Therefore, a novel control algorithm of DYC based on the hierarchical control strategy is brought forward in this paper As for the upper controller, a correctional linear quadratic regulator, which not only contains feedback control but also contains feed forward control, is introduced to deduce the object of

A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

Comprehensive tire–road friction coefficient estimation based on signal fusion method under complex maneuvering operations

Knowing vehicle sideslip angle is important and useful in various vehicle active safety applications. However, equipment which could directly measure sideslip angle is usually too expensive for industrial applications, so a reliable, affordable sideslip angle observer is necessary. Model-based observer is affected by the model uncertainty, non-linearity and the road friction inaccuracy. Sensor-based observer might be easily affected by the sensor noise and the bias induced by the road micro-uneven. Thus, an unscented Kalman filter (UKF)-based adaptive variable structural observer with dynamic correction (AUKF) for vehicle body sideslip angle is brought forward in this study. First, an UKF observer with adaptive parameters is used to compensate the model uncertainty. Then, a sensor-based observer is applied to realise a variable structure observer to compensate the estimation error in the highly non-linear region. A pseudointegral method and a zero point reset method are adopted to dynamically correct the bias drift problem in the integral. Both simulations and real vehicle tests validated the proposed approach. The accurate vehicle sideslip angle is measured by a differential global positioning system. Results show that the proposed approach has better performance compared with traditional UKF method, and makes a good foundation for stability control.

https://ietresearch.onlinelibrary.wiley.com/doi/pdf/10.1049/iet-cta.2015.1030

UKF-based adaptive variable structure observer for vehicle sideslip with dynamic correction

This technical brief proposes a new model-based estimation method for the vehicle sideslip angle, yaw rate, roll angle, and roll rate using unscented Kalman filter (UKF). Since a vehicle wheel could potentially lift off the ground during the limit handling, a switched vehicle roll dynamics model (wheel lift and no wheel lift) is developed and integrated within the proposed modelbased estimation approach considering the availability of wheel speed sensor. The simulation results and analyses demonstrate the performance enhancement of the proposed estimation method over the method not considering wheel lift during the limit handling. [DOI: 10.1115/1.4030784]

Gang Jia

Papers

A variable structure extended Kalman filter for vehicle sideslip angle estimation on a low friction road

A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

Comprehensive tire–road friction coefficient estimation based on signal fusion method under complex maneuvering operations

UKF-based adaptive variable structure observer for vehicle sideslip with dynamic correction

Model-Based Estimation for Vehicle Dynamics States at the Limit Handling