Time-optimal vehicle posture control to mitigate unavoidable collisions using conventional control inputs

TitleTime-optimal vehicle posture control to mitigate unavoidable collisions using conventional control inputs
Publication TypeConference Paper
Year of Publication2013
AuthorsChakraborty, I., P. Tsiotras, and R. Sanz Diaz
Conference NameAmerican Control Conference (ACC), 2013
Date PublishedJune
Keywordsactive front steering, AFS, asphalt, automobiles, braking, conventional control inputs, dry asphalt, electronic stability control system, ESC, Friction, intelligent vehicle, optimal yaw rotation maneuver, position control, Safety, steering systems, straight line braking, time optimal control, time-optimal rotation, time-optimal vehicle posture control, Tires, Torque, unavoidable T-bone collision mitigation, vehicle dynamics, Vehicles, wet asphalt, Wheels

This paper analyzes the mitigation of an unavoidable T-bone collision, where an “intelligent” vehicle executes an aggressive time-optimal rotation to achieve a favorable relative orientation with another vehicle prior to impact. The current paper extends the previous work by the authors on this problem, by modeling additional vehicle dynamics (neglected in the prior work) and by utilizing conventionally available control commands (that is, steering, braking, handbrake) for the maneuvering vehicle. The commands can either be applied directly by a trained driver, or (as in the majority of cases) can be executed with the help of a combination of an Active Front Steering (AFS) and an Electronic Stability Control (ESC) system onboard the vehicle. The optimal yaw rotation maneuver is analyzed for different initial speeds on both dry and wet asphalt. The results confirm the existence of an “option zone” for some cases, within which such an aggressive maneuver may be possible and perhaps even preferable to straight line braking.

Citation Key6580156

Dynamics and Control Systems Lab


Robotic Mobility Group


Aerospace Robotics and Embedded Systems Laboratory

About us

We are three research groups from Georgia Tech, the Massachusetts Institute of Technology, and the University of Southern California, collaborating to perform basic research on high-speed autonomous driving.  We are most interested in researching biologically-inspired methods in the realms of both perception and control.


This work was supported by the Army Research Office under MURI Award W911NF-11-1-0046.