The Korean Society Of Automotive Engineers

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Transactions of the Korean Society of Automotive Engineers - Vol. 28 , No. 9

[ Article ]
Transactions of the Korean Society of Automotive Engineers - Vol. 28, No. 9, pp.653-658
Abbreviation: KSAE
ISSN: 1225-6382 (Print) 2234-0149 (Online)
Print publication date 31 Aug 2020
Received 28 Apr 2020 Revised 25 Jun 2020 Accepted 05 Jul 2020

차량 횡슬립 추정 기반 운전자 충돌회피보조 연구
김승기* ; 박재일 ; 이상호
현대자동차 샤시제어리서치랩

A Development of Evasive Steering Assist Control System Based on Vehicle Side-slip Angle Estimation
Seungki Kim* ; Jaeil Park ; Sangho Lee
Chassis System Control Research Lab., R&D Division, Hyundai Motor Company, 150 Hyundaiyeonguso-ro, Namyang-eup, Hwaseong-si, Gyeonggi 18280, Korea
Correspondence to : *E-mail:

Copyright Ⓒ 2020 KSAE / 178-08
This is an Open-Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License( which permits unrestricted non-commercial use, distribution, and reproduction in any medium provided the original work is properly cited.


Various driver assistance systems have been developed to help avoid obstacles in front of vehicles. Some systems, called Evasive Steering Assist(ESA), utilize chassis control systems to improve the vehicle’s steering response to avoid collision. However, rapid evasive steering makes the vehicle unstable and causes secondary accidents. Therefore, the Evasive Steering Assist system needs to sense the vehicle's stability and perform appropriate control to prevent the vehicle from becoming unstable. In this study, we propose an Evasive Steering Assist system based on vehicle lateral slip estimation. The proposed system controls the Electronically Controlled Suspension(ECS) of the vehicle based on environmental sensors and estimated slip information to improve cornering performance and lateral stability. The system’s performance is verified through experiments with a test vehicle equipped with ECS in various scenarios, including emergency lane changes.

Keywords: Evasive steering assist, Side-slip angle, Tire model, Vehicle dynamics, Electronically-controlled suspension, Vehicle stability
키워드: 충돌회피보조, 횡슬립각, 타이어모델, 차량동역학, 전자제어서스펜션, 차량안정성

1. 서 론

교통 사고를 줄이기 위한 세계 각국의 법규 강화 및 ADAS 의무장착 움직임으로, 글로벌 자동차 OEM들이 충돌 안전 시스템을 적극 도입하게 되었다. 현재 양산되고 있는 FCA(Forward Collision-Avoid