An Adapted Evasive Manoeuvre Assist Function for Over-Reactive and Under-Reactive Drivers

Paper in proceeding, 2020

In the present paper, an Evasive Manoeuvre Assist (EMA)
function is designed to adapt to dierent types of drivers, by an opti-
mised steering torque overlay. The existing EMA function amplies the
driver steering inputs using a feed-forward controller which might not
necessarily help an over-reactive driver. There exists a need for an EMA
which adapts to dierent drivers as it minimises the risk of collision and
gives the driver an experience of good control. The focus of this pa-
per is to identify and dene a proper steering sequence reference model
for closed-loop feedback control design. A simple single-point preview
model is designed rst to calculate the reference steering angle. A few
test scenarios are set-up using the IPG CarMaker simulation tool. The
reference model is then calibrated with respect to the amplitude and fre-
quency of the steering sequence by simulations to obtain the optimal
steering prole. A feedback controller is then designed using this refer-
ence model. The robustness of the function is veried in real-time, using
a Volvo rapid-prototype test vehicle.