Nonlinear Differential Braking Control for Collision Avoidance During Lane Change

In this paper, a nonlinear differential braking control method is developed to avoid collision during lane change under driver torque. The lateral dynamics consist of offset error and yaw can be interpreted as semi-strict feedback form. the problem torque, matching condition does not satisfy, system in form of, strict Thus, general backstepping cannot applied. To overcome problem, proposed designed via combination sliding mode backstepping. Two surfaces are for control. One considering error, other surface using rate errors virtual input dynamics. A brake steer force regulate two procedure Integral action super twisting algorithm used controller ensure robustness system. method, which backstepping, improve performance braking. validated through simulations.