DRIVER-FRIENDLY EMERGENCY COLLISION AVOIDANCE SYSTEM VIA FLATNESS DIRECT YAW MOMENT CONTROL

Unlike an autonomous driving system, a shared control system keeps the driver in the loop to exploit human's decision-making, path-planning, and control skills in vehicle motion control. In the meantime, a shared control system consistently provides support to the driver in hazardous situations. Typical shared control systems concentrate on altering vehicle steering actions through either active front steering or haptic steering torque. However, an active front steering system requires costly hardware and a haptic steering torque explicitly interferences with the driver hand-wheel steering. To overcome the drawbacks of the steering-based strategies, this paper introduces a driver support system based on direct yaw moment control for highspeed collision avoidance maneuvers. The new system maintains a hierarchical structure with a high-level lateral velocity planner and a low-level lateral velocity governor. In addition, the personally-preferred collision avoidance trajectories of each driver are taken into account to make the controller personalizable. Carsim-Simulink joint simulations demonstrate that this novel shared control system can successfully assist the driver in high-speed collision avoidance maneuvers. Moreover, both physical and mental loads of the driver are substantially reduced in contrast to using an active front steering system.