Vehicle Trajectories Modeling for Loss Control Evaluation 2007-01-0811

In this paper, we present a vehicle trajectory model for cornering maneuver. Curvature discontinuity or lateral road slope inversion can strongly disturb the task of driving. Obviously the trajectory curvature is the most important cause of accident in a bend. Our aim is to model trajectories taking into account the interaction vehicle/driver/road. Initially, for numerical simulations, we use the yaw-slip-roll vehicle model in order to estimate the vehicle state variables in the Matlab/Simulink environment. Then, we apply the method of continuous curvature using polynomial functions in order to generate the safe trajectory. Then, constraints and limit states are used to determine the trajectory functional space. Afterwards, a measuring criterion of risk is developed to evaluate the risky situations. In order to make the deterministic model more effective and to get a safety rating, some trajectory parameters can be randomized. The results are validated by means of PROSPER Simulator.