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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:
    Cheng, Shuo (author) / Li, Liang (author) / Guo, Hong-Qiang (author) / Chen, Zhen-Guo (author) / Song, Peng (author)


    Publication date :

    2020-06-01


    Size :

    2214447 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    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 | European Patent Office | 2024

    Free access

    Pedestrian Collision Avoidance System for Autonomous Vehicles

    Watzenig, Daniel / Schratter, Markus / Hartmann, Michael | SAE Technical Papers | 2019


    - COLLISION-AVOIDANCE SYSTEM FOR AUTONOMOUS-CAPABLE VEHICLES

    European Patent Office | 2019

    Free access

    Collision-avoidance system for autonomous-capable vehicles

    GRAY ANDREW | European Patent Office | 2022

    Free access