An Adapted Evasive Manoeuvre Assist Function for Over-Reactive and Under-Reactive Drivers
Paper i proceeding, 2020

In the present paper, an Evasive Manoeuvre Assist (EMA)
function is designed to adapt to di erent 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 di erent 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.

Safe zone concept

Over-reactive drivers

Collision avoidance

Evasive Manoeuvre Assist (EMA)

Under-reactive drivers


Preetham Harinath

Volvo Cars

Santusht Vasuki Kittane

Volvo Cars

Derong Yang

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Lars Drugge

Kungliga Tekniska Högskolan (KTH)

Mats Jonasson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Lecture Notes in Mechanical Engineering

21954356 (ISSN) 21954364 (eISSN)

978-3-030-38076-2 (ISBN)

The 26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks
Göteborg, Sweden,


Rymd- och flygteknik







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