Improvement of Trajectory Tracking Performance in Autonomous Collision Avoidance by Steering

This study discusses the autonomous obstacle avoidance system by combined control of braking and steering as an active safety technology to prevent accidents, focusing on how to consider the limitation of steering angular velocity of the automatic steering system in order to improve its effectiveness. A modification method of the desired steering angle profile is proposed and the validity of the proposed method is verified by numerical simulations and real car experiments. The results indicate that the proposed method improves the effectiveness of the autonomous collision avoidance system.