Driving assistance system applied in curves for real vehicles

Abstract

Decreasing the accidents on highway and urban

environments is the main motivation for the

research and developing of driving assistance

systems, also called ADAS (Advanced Driver

Assistance Systems). In recent years, there

are many applications of these systems in

commercial vehicles: ABS systems, Cruise Control

(CC), parking assistance and warning systems

(including GPS), among others. However, the

implementation of driving assistance systems

on the steering wheel is more limited, because

of their complexity and sensitivity. This paper

is focused in the development, test and

implementation of a driver assistance system

for controlling the steering wheel in curve

zones. This system is divided in two levels: an

inner control loop which permits to execute the

position and speed target, softening the action

over the steering wheel, and a second control

outer loop (controlling for fuzzy logic) that

sends the reference to the inner loop according

the environment and vehicle conditions. The

tests have been done in different curves and

speeds. The system has been proved in a

commercial vehicle with satisfactory results.