운전자의 조향 개입을 고려한 자동 긴급 제동 시스템의 설계

Abstract

The purpose of this study is to design a brake control algorithm for meeting the driver`s steering will during AEB in operation. When the driver recognizes obstacles suddenly, the driver steers abruptly during AEB in operation. At this time it is difficult to generate sufficient lateral tire force depending on the driver`s steering input because AEB uses the maximum tire force in longitudinal direction. The proposed AEB control algorithm calculates desired deceleration by using relative distance, velocity of vehicle model and desired yaw rate for brake control using the driver model with steering wheel angle. Finally, the algorithm makes the brake force distributed for heading to direction which driver wants to go. The proposed algorithm is validated by using the computer simulation software, CarSim and MATLAB/Simulink.