AUTOMATIC STEERING AND BRAKING FOR A COLLISION AVOIDING VEHICLE

A collision avoiding vehicle driver assistance system is developed using braking, steering or a combination of steering and braking. To guide a vehicle on a desired trajectory for emergency steering, two feedback control approaches are presented. The combined steering and braking intervention requires a further control system. The estimation of the sideslip angle is based on a nonlinear vehicle state estimation approach.Simulation results with a validated nonlinear two-track model and results from test drives are shown.Topic: G (Mechatronic systems and applications)