A study on a road-adaptive CWCA algorithm for automobiles using HiL simulations

Collision Warning/Collision Avoidance (CW/CA) systems have been an active r esearch and development area as the interests and demands for active safety of road vehicles increase. A road-adaptive CW/CA algorithm has been propos ed in this paper. The algorithm consists of a tire-road friction estimator, a distance warning decision algorithm and a brake control algorithm for co llision avoidance, Since it would be useful to incorporate the tire-road fr iction information into a vehicle collision warning/collision avoidance alg orithm, a real-time tire-road friction estimation method and a new CW/CA al gorithm using the estimated tire-road friction have been developed. A 'Hard ware-in-the-Loop' (HiL) simulation system for the CW/CA system has been des igned and used to test the algorithm, radar sensors, controllers, and warni ng displays under realistic operating conditions in the laboratory.