Investigation of Control Design of Vehicle Active Steering

The design of a controller for active steering systems in evasive maneuvers of vehicles is investigated. Dynamics of a vehicle using the bicycle model along with a steering model is developed in state space representation. Parameters of a sports utility vehicle are used. The developed model is validated with simulation results from a commercial vehicle dynamics simulation software. The effects of a PID controller to control the host vehicle in obstacle avoidance maneuvers are investigated. The desired trajectory path is used as an input, and influence of the different gain parameters are studied. Controller can handle disturbances (such as driver’s input) supporting or opposing the maneuver up to a limit. It handles reduced headway distances up to about 60% of the distance to obstacles, but is only capable of keeping the system stable in a small range of velocities.