Development of an Emergency Driving Support Algorithm Using Motor Driven Power Steering Torque Overlay and Differential Braking
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This paper presents collision avoidance trajectory generation and coordinated control of motor driven power steering (MDPS) torque overlay and differential braking for emergency driving support (EDS). The emergency driving support system is designed to assist driver to overcome a hazardous situation. In order to support the driver, electrically controllable chassis components such as MDPS and differential braking and surrounding sensor systems such as radar and camera are used. The algorithm forecasts a collision and recognizes driver’s intention using sensor systems and derive collision avoidance trajectory considering driver’s intention. Using the collision avoidance trajectory, the MDPS overlay torque is determined to support the driver’s response of collision avoidance and differential braking is determined to maximize a minimum vehicle-to-vehicle distance to avoid collision. The performance of proposed algorithm has been investigated via computer simulation. The simulation study conducted to vehicle dynamic software CARSIM and Matlab/Simulink.