Abstract
This paper presents a rear-end collision avoidance assist control using motor driven power steering (MDPS). When driver intend to control the steering wheel to avoid front vehicle in dangerous situation, the motor driven power steering system helps the driver for safe avoidance. To control the MDPS overaly torque, the 4 functions should be accomplished: risk monitoring, driver monitoring, evasive motion planning and control. In risk monitoring process, risk of collision is derived using information of preceding vehicle. In driver monitoring process, driver’s intention is estimated. In evasive motion planning process, the evasive trajectory is derived. Finally, in control process, the control input of MDPS actuator is determined. The performance of proposed algorithm has been investigated via computer simulation conducted to vehicle dynamic software CARSIM and Matlab/Simulink and vehicle test.
Keywords: Collision Avoidance , Motor Driven Power Steering, Active Safety