A driver assistance system is described which provides an automatic road-departure warning and intervention function. The system is intended for drivers who are drifting off the roadway at a shallow angle of departure due to inattention, drowsiness, intoxication, or other cases. An integrated set of model-based estimation algorithms serves to anticipate imminent road departures. Interventions are achieved using different braking - the allocation of unequal brake torques at the right and left wheels. The driver remains in the loop, always able to provide the primary steering commands. A driver state assessment module is being developed to further adapt the individual drivers and to identify changes in driver behaviour. The algorithms, present simulation results, are described, and prelimimary experimental data from a prototype vehicle are included. (A)
Abstract