The emergency steering of a heavy truck by front-wheel braking

Gábor Rödönyi, Péter Gáspár, József Bokor

Research output: Contribution to journalArticle


A robust control synthesis method is presented for an emergency steer-by-brake problem of a heavy truck. The goal is to provide automated steering function for a truck with a mechanic-pneumatic steering system, where the only possibility for automated intervention is the use of the electronic brake system. This problem is motivated by situations when the driver becomes incapable of controlling the vehicle due to some lipothymy or drowsiness. Assuming an emergency detection and path planning system that defines yaw-rate reference for navigating the vehicle, the reference-tracking control is designed by an iterative algorithm and illustrated by Matlab/Simulink simulation.

Original languageEnglish
Pages (from-to)135-160
Number of pages26
JournalInternational Journal of Heavy Vehicle Systems
Issue number2
Publication statusPublished - May 2011


  • Path following
  • Robust control
  • Steer-by-brake
  • Uncertainty modelling

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering

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