Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Development of a coordinated control algorithm using steering torque overlay and differential braking for rear-side collision avoidance

측후방 충돌 회피를 위한 조향 보조 토크 및 차등 제동 분배 제어 알고리즘 개발

  • Lee, Junyung (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Dongwook (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Yi, Kyongsu (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Yoo, Hyunjae (Intelligent Vehicle Safety System Development Team, Hyundai Motor Company) ;
  • Chong, Hyokjin (Intelligent Vehicle Safety System Development Team, Hyundai Motor Company) ;
  • Ko, Bongchul (Intelligent Vehicle Safety System Development Team, Hyundai Motor Company)
  • Received : 2013.11.06
  • Accepted : 2013.12.18
  • Published : 2013.12.31
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Abstract

This paper describes a coordinated control algorithm for rear-side collision avoidance. In order to assist driver actively and increase driver's safety, the proposed coordinated control algorithm is designed to combine lateral control using a steering torque overlay by Motor Driven Power Steering (MDPS) and differential braking by Vehicle Stability Control (VSC). The main objective of a combined control strategy is twofold. The one is to prevent the collision between the subject vehicle and approaching vehicle in the adjacent lanes. The other is to limit actuator's control inputs and vehicle dynamics to safe values for the assurance of the driver's comfort. In order to achieve these goals, the Lyapunov theory and LMI optimization methods has been employed. The proposed coordinated control algorithm for rear-side collision avoidance has been evaluated via simulation using CarSim and MATLAB/Simulink.

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