Longitudinal Collision Avoidance and Lateral Stability Adaptive Control System Based on MPC of Autonomous Vehicles

被引：147

作者：

Cheng, Shuo ^{[1
]}

Li, Liang ^{[1
,2
]}

Guo, Hong-Qiang ^{[3
]}

Chen, Zhen-Guo ^{[4
]}

Song, Peng ^{[4
]}

机构：

[1] Tsinghua Univ, State Key Lab Automot Safety & Energy, Beijing 100084, Peoples R China

[2] Collaborat Innovat Ctr Elect Vehicles Beijing, Beijing 100081, Peoples R China

[3] Liaocheng Univ, Sch Mech & Automot Engn, Liaocheng 252059, Shandong, Peoples R China

[4] Zhongtong Bus Holding Co Ltd, Liaocheng 252000, Shandong, Peoples R China

来源：

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2020年 / 21卷 / 06期

关键词：

Collision avoidance; Brakes; Roads; Friction; Stability criteria; Longitudinal collision avoidance; lateral stability; model predictive control; autonomous vehicles; STABILIZATION; DESIGN;

D O I：

10.1109/TITS.2019.2918176

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

The longitudinal collision avoidance controller can avoid or mitigate vehicle collision accidents effectively via auto brake, and it is one of the key technologies of autonomous vehicles. Moreover, the vehicle lateral stability is very crucial in emergency scenarios. Due to complex traffic conditions and various road frictions, emergency brake may cause a vehicle to lose its lateral stability. Therefore, this paper proposes a lateral-stability-coordinated collision avoidance control system (LSCACS) based on the model predictive control (MPC). First, the proposed LSCACS decides which control mode to be implemented based on vehicle dynamics states, including a normal driving mode, a full auto brake mode, and a brake and stability mode. The MPC is used in the upper controller to calculate the desired deceleration and additional yaw moment. The lower controller calculates the desired tire forces of four wheels and realizes them by certain wheel cylinder hydraulic pressures. The LSCACS is validated by hardware-in-the-loop (HIL) tests, and the results show LSCACS's effectiveness and great performance of the collision avoidance and lateral stability.

引用

页码：2376 / 2385

页数：10

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