Abstract
In the present paper, an Evasive Manoeuvre Assist (EMA) function is designed to adapt to different types of drivers, by an optimised steering torque overlay. The existing EMA function amplifies the driver steering inputs using a feed-forward controller which might not necessarily help an over-reactive driver. There exists a need for an EMA which adapts to different drivers as it minimises the risk of collision and gives the driver an experience of good control. The focus of this paper is to identify and define a proper steering sequence reference model for closed-loop feedback control design. A simple single-point preview model is designed first to calculate the reference steering angle. A few test scenarios are set-up using the IPG CarMaker\(^\text {TM}\)simulation tool. The reference model is then calibrated with respect to the amplitude and frequency of the steering sequence by offline optimisation to obtain the optimal steering profile. A feedback controller is then designed using this reference model. The robustness of the function is verified in real-time, using a Volvo rapid-prototype test vehicle.
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Harinath, P., Kittane, S.V., Yang, D., Drugge, L., Jonasson, M. (2020). An Adapted Evasive Manoeuvre Assist Function for Over-Reactive and Under-Reactive Drivers. In: Klomp, M., Bruzelius, F., Nielsen, J., Hillemyr, A. (eds) Advances in Dynamics of Vehicles on Roads and Tracks. IAVSD 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-38077-9_118
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DOI: https://doi.org/10.1007/978-3-030-38077-9_118
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