Research on Active Collision Avoidance Control of Vehicles Under Different Emergency Conditions

被引：0

作者：

Pei X. ^{[1
]}

Li P. ^{[1
]}

Chen Z. ^{[1
]}

Guo X. ^{[1
]}

机构：

[1] School of Automobile Engineering, Wuhan University of Technology, Wuhan

来源：

Qiche Gongcheng/Automotive Engineering | 2020年 / 42卷 / 12期

关键词：

Driver-in-the-loop simulation; Emergency collision avoidance; Intelligent vehicle; Path planning; Path tracking;

D O I：

10.19562/j.chinasae.qcgc.2020.12.006

中图分类号：

学科分类号：

摘要：

An emergency collision avoidance strategy integrating active braking and active steering is proposed for complex conditions in this paper. Firstly, according to the vehicle speed and road adhesion coefficient and combining with the braking and steering safety distance model, a steering and braking priority that considers the effect of frontal obstacles is obtained. Based on this and in view of the other traffic factors in the side lane, the collision avoidance mode under steering priority is further subdivided into three types: steering, braking and steering plus braking. For collision avoidance by steering, a fifth-degree polynomial is used for path planning. Based on the safety and smoothness cost functions, an optimal safe and smooth desired path is comprehensively selected, and then achieving path tracking by using feedforward and LQR feedback control. A driver-in-the-loop simulation is conducted to verify the effectiveness of the active collision avoidance algorithm proposed. The test results under three typical operating conditions show that the intelligent vehicle can make reasonable decision on collision avoidance mode according to different emergency operating conditions, and can successfully complete the active collision avoidance operations of steering, braking and steering plus braking. Compared with the path generated by Sigmoid function, the planned path based on the fifth-degree polynomial is more suitable for emergency collision avoidance. © 2020, Society of Automotive Engineers of China. All right reserved.

引用

页码：1647 / 1654

页数：7

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