Development of a combined steering torque overlay and differential braking strategy for unintended lane departure avoidance

Lee, Junyung; Yi, Kyongsu

doi:10.1109/itsc.2011.6082855

Cited by 16 publications

(6 citation statements)

References 13 publications

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“…In index module, driver's intention, collision risk and vehicle stability are monitored. The lane change intention index is designed in last research about lane keeping assistance system (LKAS) [11]. The collision risk is observed using well-known index, inverse time-to-collision (TTC) and newly designed index, minimum lateral acceleration for collision avoidance [12].…”

Section: Overall Control Architecture Of Emergency Driving Supportmentioning

confidence: 99%

“…From this analysis, forgetting filter is designed to detect lane change intention [11]. The designed lane change index has been modified for EDS.…”

Section: Index Modulementioning

confidence: 99%

“…• Cost Function (9) • Subject to (10) (11) Equation (9) describes a cost function of the optimal problem. Equation (10) represents equality constraints from vehicle dynamics.…”

Section: Figure 10 Minimum Vehicle-to-vehicle Distancementioning

confidence: 99%

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Design and Evaluation of Emergency Driving Support Using Motor Driven Power Steering and Differential Braking on a Virtual Test Track

Choi¹,

Yi²

2013

SAE Int. J. Passeng. Cars - Mech. Syst.

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This paper presents the design and evaluation of an emergency driving support (EDS) algorithm. The control objective is to assist driver's collision avoidance maneuver to overcome a hazardous situation. To support driver, electrically controllable chassis components such as motor driven power steering (MDPS) and differential braking and surrounding sensor systems such as radar and camera are used. The EDS algorithm is designed for 3 parts: monitoring, decision, and control. The proposed EDS algorithm recognizes a collision danger using minimum lateral acceleration to avoid collision and time-to-collision (TTC) and driver's intention using sensor systems. The control mode is determined using the indices from monitoring process and the collision avoidance trajectory is derived with trapezoidal acceleration profile (TAP). 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 minimum vehicle-to-vehicle distance. Vehicle behavior and the interactions between the vehicle, the controller, and the human driver are investigated through a full-scale driving simulator on the virtual test track (VTT) which consists of a real-time vehicle simulator, a visual animation engine, a visual display, and suitable human-vehicle interfaces. The success rate of collision avoidance is investigated with test drivers and it has been increased for all test drivers.

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Section: Overall Control Architecture Of Emergency Driving Supportmentioning

confidence: 99%

“…From this analysis, forgetting filter is designed to detect lane change intention [11]. The designed lane change index has been modified for EDS.…”

Section: Index Modulementioning

confidence: 99%

See 1 more Smart Citation

Design and Evaluation of Emergency Driving Support Using Motor Driven Power Steering and Differential Braking on a Virtual Test Track

Choi¹,

Yi²

2013

SAE Int. J. Passeng. Cars - Mech. Syst.

Self Cite

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show abstract

“…In addition, the coordinated control of the steering assistance and the differential braking in the lane departure assistance has been previously considered in [17, 18], but these studies have a common premise that the driver does not operate the vehicle after the vehicle deviates from the centre of the lane. The human–machine cooperative performance is ignored.…”

Section: Introductionmentioning

confidence: 99%

Multi‐mode human–machine cooperative control for lane departure prevention based on steering assistance and differential braking

Wang

Chen

et al. 2020

IET Intelligent Transport Systems

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“…The steering characteristics of steering assistance torque was adjusted to indicate the driver's steering direction, then the integration of ESP and EPS with up–down and side‐by‐side structures were separately used for the steering control, and finally their control output results were compared [25]. The coordinated control strategy of electric power steering and differential braking was designed in [26, 27], and the lane keeping and active collision avoidance were achieved by driving assistance when the vehicle encountered an emergency. A coordinated control strategy of EPS and ESP based on vehicle driving safety boundary was proposed [28], but the stability judgement of the area near the safety boundary was relatively vague, which made the weight distribution inaccurate.…”

Section: Introductionmentioning

confidence: 99%

Lane‐keeping control based on an improved artificial potential method and coordination of steering/braking systems

Wang

Zhang

2019

IET Intelligent Transport Systems

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Development of a combined steering torque overlay and differential braking strategy for unintended lane departure avoidance

Cited by 16 publications

References 13 publications

Design and Evaluation of Emergency Driving Support Using Motor Driven Power Steering and Differential Braking on a Virtual Test Track

Design and Evaluation of Emergency Driving Support Using Motor Driven Power Steering and Differential Braking on a Virtual Test Track

Multi‐mode human–machine cooperative control for lane departure prevention based on steering assistance and differential braking

Lane‐keeping control based on an improved artificial potential method and coordination of steering/braking systems

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