An Emergency Collision-Avoidance Controller for Distrubuted Drive Autonomous Vehicles Based on AFS and DYC

被引：0
|
作者：
Yu, Zhuoping [1 ]
Han, Peng [1 ]
Long, Bo [1 ]
Liu, Ming [1 ]
Xiong, Lu [1 ]
Li, Bing [2 ]
机构：
[1] Tongji Univ, Sch Automot Studies, Shanghai, Peoples R China
[2] DIAS Automot Elect Syst Co Ltd, Shanghai, Peoples R China
来源：
2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2023年
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Autonomous vehicles; collision avoidance; model predictive control; multi-actuators;
D O I：
10.1109/CCDC58219.2023.10326920
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An emergency collision avoidance controller which integrates trajectory planning and tracking based on Model Predictive Control (MPC) is proposed. A collision avoidance safety domain considering vehicle's space safety and stability safety is established as safety constraints. Moreover, the proposed controller combines Active Front Steering (AFS) and Direct Yaw-moment Control (DYC) to improve yaw response and thereby enhance the vehicle's performance during collision avoidance. The feasibility and superiority of the proposed controller are verified by simulation experiments and vehicle ground tests. The results that the proposed controller can realize collision avoidance more effectively and safely.
引用
收藏
页码：175 / 181
页数：7
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