Urgent Collision Avoidance Control by Using of Braking and Steering with Consideration for Tire Force Saturation

Abstract

This study proposes a lateral acceleration for collision avoidance (LACA) which represents the minimum required lateral acceleration to avoid collision with a preceding vehicle. Moreover, it derives a control law to avoid a collision by using of braking and steering with consideration for tire force saturation, based on the values of deceleration for collision avoidance (DCA) and LACA. Finally, driving simulator experiments are performed to verify the effectiveness of the proposed method and its acceptability.