Enhanced Active Steering System for Collision Avoidance Maneuvers

Design of an advanced controller for active steering systems in evasive maneuvers of vehicles is investigated. Dynamics of the vehicle is modeled with an extended bicycle model using a nonlinear tire model. The developed model is validated with simulation results from commercial vehicle dynamics simulation software. Two control methods were implemented and studied with the desired trajectory path as an input. Both controllers gave very good results comparing to the ones achieved from PID controller. Deviations of the LQR were in the range of only 1 mm, even for the tough maneuvers. The pole placement controller resulted in deviations in the range of micrometers. Both controllers handled disturbances very well.