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Emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking
Haiqing Li1, Taixiong Zheng2, Fuhao Xia2
1School of Advanced Manufacturing Engineering, Chongqing University of Posts and Telecommunications, Chongqing, China. lihq@cqupt.edu.cn.
Scientific Reports
|December 31, 2022
Summary
This study presents an integrated collision avoidance strategy for autonomous vehicles using steering and braking. The novel approach ensures path-tracking accuracy and driving stability during emergencies.
Area of Science:
- Robotics
- Control Systems
- Automotive Engineering
Background:
- Autonomous vehicles require robust emergency collision avoidance systems.
- Existing strategies may lack integrated control for complex maneuvers.
Purpose of the Study:
- To develop and validate a novel integrated collision avoidance strategy for autonomous vehicles.
- To enhance vehicle safety and stability during emergency situations.
Main Methods:
- A two-layer framework: up-level decision-making and low-level control.
- Integration of four-wheel steering, active rear steering, and differential braking.
- Adaptive Model Predictive Control (AMPC) for guaranteed path-tracking and stability.
Main Results:
- The proposed strategy effectively manages collision avoidance in emergencies.
- Verified performance in terms of tracking error, yaw rate, and roll angle.
- Successful co-simulations using MATLAB/Simulink and CarSim.
Conclusions:
- The integrated collision avoidance strategy enhances autonomous vehicle safety.
- AMPC provides robust control for complex steering and braking maneuvers.
- The developed framework is effective for real-world autonomous driving applications.
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