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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

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


    Beteiligte:
    Cheng, Shuo (Autor:in) / Li, Liang (Autor:in) / Guo, Hong-Qiang (Autor:in) / Chen, Zhen-Guo (Autor:in) / Song, Peng (Autor:in)


    Erscheinungsdatum :

    01.06.2020


    Format / Umfang :

    2214447 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Longitudinal and lateral collision avoidance control strategy for intelligent vehicles

    Zhang, Ziyu / Wang, Chunyan / Zhao, Wanzhong et al. | SAGE Publications | 2022


    COLLISION-AVOIDANCE SYSTEM FOR AUTONOMOUS-CAPABLE VEHICLES

    GRAY ANDREW | Europäisches Patentamt | 2024

    Freier Zugriff

    Collision-avoidance system for autonomous-capable vehicles

    GRAY ANDREW | Europäisches Patentamt | 2022

    Freier Zugriff

    Collision-avoidance system for autonomous-capable vehicles

    GRAY ANDREW | Europäisches Patentamt | 2020

    Freier Zugriff

    - COLLISION-AVOIDANCE SYSTEM FOR AUTONOMOUS-CAPABLE VEHICLES

    ANDREW GRAY | Europäisches Patentamt | 2019

    Freier Zugriff