Risk management algorithm for rear-side collision avoidance using a combined steering torque overlay and differential braking

Abstract

This paper describes a risk management algorithm for rear-side collision avoidance. The proposed risk management algorithm consists of a supervisor and a coordinator. The supervisor is designed to monitor collision risks between the subject vehicle and approaching vehicle in the adjacent lane. An appropriate criterion of intervention, which satisfies high acceptance to drivers through the consideration of a realistic traffic, has been determined based on the analysis of the kinematics of the vehicles in longitudinal and lateral directions. In order to assist the driver actively and increase driver's safety, a coordinator is designed to combine lateral control using a steering torque overlay by motor-driven power steering and differential braking by vehicle stability control. In order to prevent the collision while limiting actuator's control inputs and vehicle dynamics to safe values for the assurance of the driver's comfort, the Lyapunov theory and linear matrix inequalities based optimisation methods have been used. The proposed risk management algorithm has been evaluated via simulation using CarSim and MATLAB/Simulink.

Keywords:

• driver support system
• intelligent safety vehicle
• risk management system
• rear-side collision avoidance
• active lane change assistance
• coordinated control algorithm

Disclosure statement

No potential conflict of interest was reported by the authors.

Funding

This work was jointly supported by the Hyundai Motors Company, SNU-IAMD, the BK21 programme, a Korean Research Foundation Grant funded by the Korean Government (MEST) (KRF-2009-200-D00003), and the National Research Foundation of Korea grant funded by the Ministry of Science, ICT & Future Planning [No. 2009-0083495].