Collision avoidance systems that utilize both steering and braking have been widely studied. However, information about the tire-road friction coefficient, which plays a critical role in collision avoidance, is assumed to be a known constant value in many studies. Because of this, it is difficult to properly respond to changes in road surface conditions that commonly occur in practice. In this paper, a collision avoidance system that estimates and applies the tire-road friction coefficient in real-time is proposed to overcome these limitations. First, a path planner and tracking controller are designed. It applies friction coefficient changes to the algorithm and provides prompt feedback of the updated vehicle state variables. Next, a friction coefficient estimator is proposed that enables rapid and highly accurate estimation in a short period of time, even in collision avoidance situations where sufficient excitation required for estimation may not be continuously achieved for a long time. Finally, by integrating the collision avoidance system and the friction coefficient estimator, the estimated tire-road friction coefficient is applied to the collision avoidance system in real-time, and the reactions are used to estimate the tire-road friction coefficient again. This demonstrates the excellent collision avoidance performance despite changes in road friction and also proves the virtuous cycle interaction of the integrated system.


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    Title :

    Development of Collision Avoidance System Integrated With Real-Time Tire-Road Friction Coefficient Estimator


    Contributors:

    Published in:

    Publication date :

    2024-12-01


    Size :

    5024226 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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