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Vehicle steering control can provide assistance to drivers for lane keeping, automated trajectory following, or more extreme evasive maneuvers. An active torque control steering system is designed using Linear Quadratic Regulator (LQR), and its performance was evaluated using the commercial software CARSIM. The system is developed to maintain a desired trajectory for the vehicle in performing evasive maneuvers to avoid imminent crash scenarios. In order to better understand the behavior of the system with different controllers, a simple bicycle model of the vehicle was developed, and an LQR controller was developed to control vehicle steering torque. The controller uses yaw angle, yaw rate, velocity, and position of the vehicle to generate the required steering torque to follow the desired trajectory. An observer was developed to estimate non-measured parameters. Trajectories are generated to follow a lane change before reaching the obstacle.

Current link layer protocols for safety-related inter-vehicle communication networks suffer from significant scalability and security challenges. Carrier Sense Multiple Access (CSMA) approaches may produce excessive transmission collisions at high vehicle densities and are vulnerable to a variety of Denial of Service (DoS) attacks. Explicit time slot allocation approaches tend to be limited by either the need for a fixed infrastructure, a high number of control messages, or poor bandwidth utilization, particularly in low-density traffic. This paper will present a Communications Architecture for Adaptive Reliable Adhoc Networks (CARAVAN). CARAVAN includes novel adaptations of explicit timeslot allocation protocols for IVC networks.