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SPATIAL-BASED PREDICTIVE CONTROL FOR VEHICLE COLLISION AVOIDANCE BY STEERING MANEUVERS
Shaosong Li,Yunsheng Tian,Xiaofeng Yue,Niaona Zhang,Shujun Wang 한국자동차공학회 2022 International journal of automotive technology Vol.23 No.1
A hierarchical vehicle collision avoidance control method based on model predictive control is presented in this study. In the upper level of the controller, a spatial-based two-degree-of-freedom vehicle model is used for dynamic path planning to decrease the computational burden of the algorithm. Obstacles and road boundaries are translated into spatialbased constraints on system states. An objective function that considers tire adhesion margin is introduced to the path tracking controller to enhance vehicle safety. Meanwhile, the dynamic constraints of vehicle lateral acceleration, sideslip, and tire slip angles are designed in accordance with the tire-road adhesion coefficient. A time-based nonlinear model predictive controller is also designed and compared with the proposed method to verify the effectiveness and superiority of the latter. Theoretical analyses and simulation results indicate that the proposed collision avoidance control system has good ollision avoidance effect.
Zeng Li,Gaojian Cui,Shaosong Li,Niaona Zhang,Yunsheng Tian,Xiaoqiang Shang 한국자동차공학회 2020 International journal of automotive technology Vol.21 No.4
To address the failure to consider vehicle states in region of interest (ROI) prediction, we propose the use of a Kalman filter to estimate the position of vehicles relative to lanes by vehicle states on the basis of a vehicle–road micro traffic model in the world coordinate system. The central position of the ROI is determined through a combination of optimal preview time theory with the ROI prediction. The range of the ROI is determined by offsetting upward, downward, leftward, and rightward from the central position of the ROI. The left and right ROI are processed separately to detect lane lines. Simulation results show that the proposed prediction method reduces the ROI range, and the model predictive control controller can make the vehicle run smoothly from the initial position to the road centerline.