Emergency driving support algorithm with steering torque overlay and differential braking

This paper presents an emergency driving support (EDS) algorithm which supports the driver to avoid collision using motor driven power steering (MDPS) and electronic stability control (ESC). If driver tries to avoid rear-end collision using steering input, the EDS system is activated and supports the driver to have appropriate steering angle and controls the ESC if vehicle needs large yaw rate. The EDS algorithm consists of 4 parts: risk monitoring, driver monitoring, decision and control. In risk monitoring process, risk index is derived using information of preceding vehicle. In driver monitoring process, driver´s intention in emergency situation is estimated. In decision process, from the derived indices, the control policies are determined. Finally, in control process, the control inputs of actuators are determined. The performance of proposed algorithm has been investigated via computer simulation conducted to vehicle dynamic software CARSIM and Matlab/Simulink.