Autonomous Wary Collision Avoidance

被引：10

作者：

Fors, Victor ^{[1
]}

Olofsson, Bjorn ^{[1
,2
]}

Nielsen, Lars ^{[1
]}

机构：

[1] Linkoping Univ, Dept Elect Engn, Div Vehicular Syst, SE-58183 Linkoping, Sweden

[2] Lund Univ, Dept Automat Control, SE-22100 Lund, Sweden

来源：

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES | 2021年 / 6卷 / 02期

关键词：

Friction; Acceleration; Collision avoidance; Numerical models; Computational modeling; Tires; Intelligent vehicles; Autonomous vehicles; control design; obstacle avoidance; optimal control; vehicle dynamics; vehicle safety;

D O I：

10.1109/TIV.2020.3029853

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Handling of critical situations is an important part in the architecture of an autonomous vehicle. A controller for autonomous collision avoidance is developed based on a wary strategy that assumes the least tire-road friction for which the maneuver is still feasible. Should the friction be greater, the controller makes use of this, and performs better. The controller uses an acceleration-vector reference obtained from optimal control of a friction-limited particle, whose applicability is verified by using numerical optimization on a full vehicle model. By employing an analytical tire model of the tire-road friction limit, to determine slip references for steering, and body-slip control, the result is a controller where the computation of its output is explicit, and independent of the actual tire-road friction. When evaluated in real-time on a high-fidelity simulation model, the developed controller performs close to that achieved by offline numerical optimization.

引用

页码：353 / 365

页数：13

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