Local Path Planning and Tracking Control of Vehicle Collision Avoidance System

被引：0

作者：

Xu Z. ^{[1
,2
]}

Zhao W. ^{[1
]}

Wang C. ^{[1
,3
]}

Dai Y. ^{[1
]}

机构：

[1] College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing

[2] Suzhou Automotive Research Institute, Tsinghua University (Wujiang), Suzhou

[3] Key Laboratory of Advanced Manufacture Technology for Automobile Parts, Ministry of Education, Chongqing University of Technology, Chongqing

来源：

Transactions of Nanjing University of Aeronautics and Astronautics | 2018年 / 35卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Collision avoidance; Dynamic model; Path planning; Tracking control; Vehicle;

D O I：

10.16356/j.1005-1120.2018.04.729

中图分类号：

学科分类号：

摘要：

Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors. Moreover, it can promote the development of autonomous driving for intelligent vehicle in intelligent transportation. We present a collision avoidance system, which is composed of an evasive trajectory planner and a path following controller. Considering the stability of the vehicle in the conflict-free process, the evasive trajectory planner is designed by polynomial parametric method and optimized by genetic algorithm. The path following controller is proposed to make the car drive along the designed path by controlling the vehicle's lateral movement. Simulation results show that the vehicle with the proposed controller has good stability in the collision process, and it can ensure the vehicle driving in accordance with the planned trajectory at different speeds. The research results can provide a certain basis for the research and development of automotive collision avoidance technology. © 2018, Editorial Department of Transactions of NUAA. All right reserved.

引用

页码：729 / 738

页数：9

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