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.
Development of Collision Avoidance System Integrated With Real-Time Tire-Road Friction Coefficient Estimator
IEEE Transactions on Intelligent Transportation Systems ; 25 , 12 ; 21327-21342
2024-12-01
5024226 byte
Article (Journal)
Electronic Resource
English
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