Torque-based steering assistance for collision avoidance during lane changes

Z. Ercan, A. Carvalho, S. Lefèvre, F. Borrelli, H. E. Tseng, M. Gokasan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Citations (Scopus)

Abstract

Lane changing is a cognitively demanding task that drivers perform frequently while driving on highways at high speed. This paper presents a predictive control framework which prevents collisions during lane change maneuvers. Approaches based on steering angle control are commonly used in the literature. These approaches may inadvertently take away the ultimate control authority of the driver. Also they involve a separate lower level steering control that requires subjective and complex steering feel calibration and steering torque constraints. The method proposed in this paper is based on a corrective torque formulation which incorporates the steering dynamics and driver response in the model. We tested the proposed controller in an experimental vehicle with a human driver. The results demonstrate that the proposed method avoids collision threats with minimum intervention.

Original languageEnglish
Title of host publicationAdvanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16
EditorsJohannes Edelmann, Manfred Plochl, Peter E. Pfeffer
PublisherCRC Press/Balkema
Pages43-48
Number of pages6
ISBN (Print)9781315265285
Publication statusPublished - 2017
Event13th International Symposium on Advanced Vehicle Control, AVEC 2016 - Munich, Germany
Duration: 13 Sept 201616 Sept 2016

Publication series

NameAdvanced Vehicle Control AVEC’16: Proceedings of the 13th International Symposium on Advanced Vehicle Control (AVEC'16)

Conference

Conference13th International Symposium on Advanced Vehicle Control, AVEC 2016
Country/TerritoryGermany
CityMunich
Period13/09/1616/09/16

Bibliographical note

Publisher Copyright:
© 2017 Taylor & Francis Group, London.

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