System to Assist the Driver During a Single Lane Change Maneuver, in the Conditions of Danger Arising from a Change in the Condition of the Road Surface

The article describes the application of a vehicle simulation model to assess the driving hazards that arise due to changes in the tyre-road adhesion during a lane change. An experimentally verified vehicle dynamics model was used. The typical single lane change maneuver, performed on dry concrete, wet concrete, and ice-covered roads, was simulated for three vehicle speeds. The disturbance was introduced as a changed tyre-road adhesion on the target lane. Typical sinusoidal (one-period) input was applied to the steering wheel. Adhesion change may lead to an accident when considering the driver's reaction time. An original control algorithm has been built. It is the driver assistance system with a double PID controller of the steering wheel angle. The system parameters were determined based on the principles recommended in the automatic control engineering monographs. The controller fulfils its tasks for motion at very high speeds on a homogeneous road surface and for the case where the tyre-road adhesion is changed during a maneuver. Thanks to this, the threat can be avoided.