An Adapted Evasive Manoeuvre Assist Function for Over-Reactive and Under-Reactive Drivers

Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


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.


Collision avoidance Evasive Manoeuvre Assist (EMA) Over-reactive drivers Under-reactive drivers Safe zone concept 


  1. 1.
    Hartmann, B., Eckert, A., Rieth, E., Sevenich, M.: Emergency brake & steer assist - the integration of emergency brake and steer assistance taking driver behaviour in emergency situation into account. In: 20th Aachen Colloquium Automobile and Engine Technology, 11-011, Germany (2011)Google Scholar
  2. 2.
    Schittenhelm, H.: Fahrverhalten und reaktionszeiten in kritischen situationen, VDI-Bericht 1911 (2005)Google Scholar
  3. 3.
    Adams, L.D.: Review of the literature on obstacle avoidance manoeuvres: braking versus steering. University of Michigan Transportation Research Institute, Ann Arbor, USA. Report No. UMTRI-94-19 (1994)Google Scholar
  4. 4.
    Yang, D., Jonasson, M., Halleröd, T., Johansson, R.: Evaluation of an evasive manoeuvre assistance system at imminent side collisions. In: AVEC 2016 (2016)Google Scholar
  5. 5.
    Shah, J., Zegelaar, P., Best, M.: Performance of emergency steer assist in front wheel and rear wheel steering vehicle. In: AVEC 2014 (2016)Google Scholar
  6. 6.
    Breuer, J.: Analysis of driver vehicle interactions in an evasive manoeuvre - results of moose test studies. Daimler-Benz AG, 98-S2-W-35 (1998)Google Scholar
  7. 7.
    Lokur, P., Wang, Y.: Effectiveness of evasive manoeuver assist function for different driver skills. Chalmers University of Technology, Master dissertation (2016)Google Scholar
  8. 8.
    Jonasson, M., Gustafssson, T.: Driver assist arrangement. Grant patent no. US9643604B2 (2017)Google Scholar
  9. 9.
    Yang, D., Jonasson, M., Silvlin, J.: Method and system for providing a driver behaviour adapted evasive manoeuvre. Patent application no. US20160339910A1 (2016)Google Scholar
  10. 10.
    Oxford Technical Services.

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Active Safety and Vehicle DynamicsVolvo Car GroupGothenburgSweden
  2. 2.Department of Aeronautical and Vehicle EngineeringVehicle Dynamics, The Royal Institute of Technology (KTH)StockholmSweden
  3. 3.Department of Mechanics and Maritime SciencesChalmers University of TechnologyGothenburgSweden

Personalised recommendations