An adaptive collision avoidance strategy for autonomous vehicle under various road friction and speed☆

被引：10
作者：
Wang, Jinlei [1 ]
Huang, Guoming [1 ,2 ]
Yuan, Xiaofang [1 ]
Liu, Zhixian [1 ]
Wu, Xiru [2 ]
机构：
[1] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China
[2] Guilin Univ Elect Technol, Sch Elect Engn & Automat, Guilin 541004, Peoples R China
来源：
ISA TRANSACTIONS | 2023年 / 143卷
基金：
中国国家自然科学基金; 国家重点研发计划;
关键词：
Autonomous vehicle; Emergency collision avoidance; Adaptive control; Predictive -based fuzzy control; Direct yaw turning control; Hybrid A*; YAW-MOMENT CONTROL; NEURAL-NETWORK; CONTROL-SYSTEM; STABILITY; CONTROLLER; DRIVER;
D O I：
10.1016/j.isatra.2023.08.030
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
When the autonomous vehicle (AV) is under various road friction and speed, emergency collision avoidance is extremely difficult. In this situation, the AV may encounter severe understeering problem, so it is hard to achieve collision avoidance, even under the control of active safety system. To tackle this problem, an adaptive collision avoidance strategy (ACAS) is proposed for AV under various road friction and speed. The adaptive performance of the ACAS is realized via three aspects. (1) An adaptive reference path planning method is proposed to provide desired evasive speed and reference path for the AV according to various road friction and reduces the turning burden of AV. (2) A predictive-based fuzzy controller is designed to realize the speed control, and it improves the tracking accuracy of various desired evasive speed. (3) A novel turning enhanced method built with a direct yaw turning controller and a torque distribution method can enhance the turning capability of AV. Finally, the proposed strategy is verified on AV via simulation experiments. The code can be found online here: https://github.com/wangjinlei-hnu/ACAS.
引用
收藏
页码：131 / 143
页数：13
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