A method for stabilizing movement of a vehicle to be implemented by a processor, the vehicle including a plurality of wheels and an actuating unit which is a set of brakes respectively for the plurality of wheels of the vehicle, the processor being electrically connected to a controller that is configured to obtain, for the vehicle, an estimated lateral displacement, an estimated lateral speed, an estimated yaw angle error, an estimated yaw rate, and an estimated steering wheel angle, the method comprising steps of:
- A) obtaining a set of vehicle data related to the vehicle;
- B) determining whether a path on which the vehicle is driving is a dangerous path based on the set of vehicle data;
- C) in response to determining that the path is a dangerous path, obtaining a compensation steering angle;
- D) obtaining a target steering angle based on the estimated steering wheel angle and the compensation steering angle;
- E) based on the target steering angle, selecting one of the plurality of wheels of the vehicle as a first target wheel and obtaining a first control command corresponding to the first target wheel;
- and
- F) outputting the first control command to the actuating unit to control one of the brakes that corresponds to the first target wheel based on the first control command,
- wherein the set of vehicle data includes a time to collision, a vehicle speed of the vehicle, a plurality of obstacle distances corresponding respectively to a plurality of directions relative to the vehicle, a vehicle weight of the vehicle, a first lateral stiffness of front wheels of the vehicle, a second lateral stiffness of rear wheels of the vehicle, a moment of inertia of the vehicle, a first distance between a front axle of the vehicle and a center of gravity of the vehicle, a second distance between a rear axle of the vehicle and the center of gravity of the vehicle, an actual longitudinal speed of the vehicle, an actual rate of change of lateral displacement of the vehicle, an actual rate of change of lateral speed of the vehicle, an actual yaw rate related to a yaw angle error of the vehicle, and an actual rate of change of yaw rate of the vehicle,
- wherein step B) includes sub-steps of
- obtaining a safety distance based on at least the time to collision and the vehicle speed included in the set of vehicle data,
- for each of the plurality of directions relative to the vehicle, obtaining a collision risk assessment value corresponding to the direction based on the safety distance and one of the plurality of obstacle distances that corresponds to the direction, and
- for one of the plurality of directions that corresponds to the path, determining whether the collision risk assessment value corresponding to the one of the plurality of directions is greater than a risk threshold value, so as to determine whether the path is a dangerous path,
- wherein step C) includes sub-steps of
- obtaining a calibrated lateral displacement, a calibrated lateral speed, a calibrated yaw angle error and a calibrated yaw rate based on the estimated lateral displacement, the estimated lateral speed, the estimated yaw angle error and the estimated yaw rate that are obtained from the controller, and the collision risk assessment values that correspond respectively to the plurality of directions relative to the vehicle,
- obtaining an expected rate of change of lateral displacement, an expected rate of change of lateral speed, an expected yaw rate related to a yaw angle error and an expected rate of change of yaw rate based on the vehicle weight, the first lateral stiffness, the second lateral stiffness, the moment of inertia, the first distance, the second distance, the actual longitudinal speed, the calibrated lateral displacement, the calibrated lateral speed, the calibrated yaw angle error, the calibrated yaw rate and the estimated steering wheel angle, and
- obtaining the compensation steering angle based on the expected rate of change of lateral displacement, the expected rate of change of lateral speed, the expected yaw rate related to a yaw angle error, the expected rate of change of yaw rate, the actual rate of change of lateral displacement, the actual rate of change of lateral speed, the actual yaw rate related to a yaw angle error and the actual rate of change of yaw rate.