Urgent Collision Avoidance Control by Using of Braking and Steering with Consideration for Tire Force Saturation
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Summary
This paper addresses the challenge of urgent collision avoidance by proposing an integrated control strategy that combines braking and steering while accounting for tire force saturation. Existing systems often suffer from high computational costs, reliance on designer experience for parameter tuning, potential conflicts between automatic and manual driver inputs, and instability caused by exceeding tire friction limits. To resolve these issues, the authors develop a system that encourages early driver braking and employs automatic steering only when manual avoidance is insufficient, ensuring vehicle stability through friction circle constraints. The methodology introduces two key metrics: Deceleration for Collision Avoidance (DCA) and Lateral Acceleration for Collision Avoidance (LACA). LACA represents the minimum lateral acceleration required to avoid a collision with a preceding vehicle. The authors derive analytical expressions for LACA based on the relative positions, velocities, and accelerations of the ego vehicle and the preceding vehicle, considering reaction times for both driver and system interventions. The control law utilizes the friction circle concept, ensuring that the combined longitudinal and lateral forces remain within the tire’s friction limit ($\mu F_z$). When braking alone (DCA) exceeds the friction limit, the system switches to automatic steering control, targeting the smaller of the left or right LACA values to maintain stability. The control implementation uses a two-wheel vehicle model with feedforward and PID feedback control to determine the front wheel steering angle. The study validates the proposed method through numerical simulations and driving simulator experiments. Simulations demonstrate that when braking alone is insufficient due to friction limits, the system successfully avoids collision by applying the calculated LACA, keeping the vehicle within the friction circle. Driving simulator experiments involved participants following a preceding vehicle that performed sudden decelerations under various speed and deceleration patterns. The experiments compared scenarios with and without the proposed system. Results indicated that the system effectively avoided collisions in situations where braking alone was inadequate. Furthermore, the experiments assessed user acceptability, finding that the haptic guidance and automatic intervention were acceptable to drivers, provided the system did not conflict with manual inputs. The significance of this work lies in providing a computationally efficient and physically constrained approach to emergency collision avoidance. By explicitly considering tire force saturation, the method ensures vehicle stability during aggressive maneuvers. The integration of DCA and LACA allows for a seamless transition between braking and steering, reducing the risk of system-driver conflict. This approach offers a robust framework for advanced driver assistance systems, enhancing safety in critical collision scenarios while maintaining driver trust and acceptability.
Provenance
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| Stage | Outcome | Tool | Model | Prompt | Attempts | Completed |
|---|---|---|---|---|---|---|
| discover | success | author_sweep | — | — | 2 | 2026-05-28 |
| archive | success | canonical_url | — | — | 6 | 2026-06-09 |
| extract | success | cached | — | — | 2 | 2026-06-10 |
| clean | success | clean | — | — | 1 | 2026-06-09 |
| chunk | success | chunk | — | — | 1 | 2026-06-09 |
| embed | success | embed | Qwen/Qwen3-Embedding-8B | — | 1 | 2026-06-09 |
| enrich | skipped | — | — | — | 4 | 2026-07-02 |
| promote | success | — | — | — | 1 | 2026-06-04 |
| summarize | success | llm | qwen3.6-27b-prismaquant | summ-v5 | 1 | 2026-06-10 |
| tag | success | vector_similarity | — | — | 8 | 2026-06-11 |
| verify | success | — | — | — | 1 | 2026-06-10 |
Summary generated by qwen3.6-27b-prismaquant on 2026-06-10; verification: verified.
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