Research on automatic emergency steering collision avoidance and stability control of intelligent driving vehicle

Frontiers in Robotics and AI

Robotics and AI

Guangqiang Wu¹  TanXiaoqiang Tan¹  Wudong Liu¹  Gaobo Wen¹  Zhaoyong Liu² 

[1] School of Automotive Studies, Tongji University, Shanghai, China;School of Automotive Studies, Tongji University, Shanghai, China;Global Technology Co., Ltd, Nantong, China;

关键词: trajectory planning;    stability control;    LQR lateral control;    emergency collision avoidance;    direct yaw moment control;   

DOI  :  10.3389/frobt.2023.1120658

 received in 2022-12-10, accepted in 2023-02-06,  发布年份 2023

来源: Frontiers

【 摘 要 】

In view of the need for emergency steering to avoid collision when the vehicle is in a dangerous scene, and the stability control of the vehicle during collision avoidance. This paper proposes a planning and control framework. A path planner considering the kinematics and dynamics of the vehicle system is used to formulate the safe driving path under emergency conditions. LQR lateral control algorithm is designed to calculate the output steering wheel angle. On this basis, adaptive MPC control algorithm and four-wheel braking force distribution control algorithm are designed to achieve coordinated control of vehicle driving stability and collision avoidance safety. The simulation results show that the proposed algorithm can complete the steering collision avoidance task quickly and stably.

【 授权许可】

Unknown   
Copyright © 2023 Liu, Wen, Liu, Tan and Wu.