EXPERIMENTAL RESULTS OF A TIRE-BURST CONTROLLER FOR AHS

This paper investigates the problem of tire burst, and how to mitigate its adverse effects in an AHS environment. The problem is approached by first modeling the tire burst. A feed-forward controller is designe d, based on inverting the nonlinear tire-burst dynamics for controllin g the car after the tire burst. The feed-forward term is approximated by the output of a second-order filter. The approximation also provide s a way to characterize the feed-forward term for different road curva ture and different tires (front/rear, left/right). Two different tire blow-out detection algorithms are discussed. This is followed by the e xperimental phase. Open-loop experiments were conducted to verify the tire-burst model. Closed-loop tests were then carried out to validate the automatic lane-following performance after a tire burst. The resul ts have shown that the burst controller enables the car to follow the lane, even after a front tire blow-but. Copyright (C) 1997 Elsevier Sc ience Ltd.