Advanced Driver Assistance System by Combination of Avoidance Guidance Based on Haptic Shared Control and Automatic Collision Avoidance Control

Abstract

This study proposes a haptic shared control (HSC) which provides torque on a steering wheel in order to avoid a collision with forward obstacles. The torque is calculated based on deceleration for collision avoidance (DCA) and lateral acceleration for collision avoidance (LACA). Moreover, this study also constructs an advanced driver-assistance system by a combination of the HSC and an automatic collision avoidance control law on a driving simulator and verifies the effectiveness of the proposed system.