Nonlinear trajectory following control for automatic steering of a collision avoiding vehicle

Abstract

A collision avoiding vehicle driver assistance system is developed. Collisions can be avoided using braking, steering or a combination of steering and braking. Within this paper only steering interventions are discussed. To guide the vehicle on a desired trajectory for emergency steering, two feedback control approaches are presented. A Kalman filter based vehicle state estimation approach to estimate the sideslip angle is shown. Simulation results with a validated nonlinear two-track model and results from test drives are shown