Emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking
Haiqing Li, Taixiong Zheng, Fuhao Xia, Lina Gao, Qing Ye, Zonghuan Guo
Abstract
This paper develops a novel integrated collision avoidance strategy for autonomous vehicles in an emergency based on steering and braking. Specifically, the framework of the collision avoidance strategy is composed of two parts: an up-level decision-making layer and a low-level controller layer. The purpose of the up-level is to select the appropriate control strategy based on the vehicle information, and the low-level is to drive the vehicle according to the instructions generated by the up-level. More concretely, a novel control strategy is proposed by integrating four-wheel steering, active rear steering, and differential braking with guaranteed path-tracking accuracy and driving stability by adaptive model predictive control (AMPC). Finally, extensive co-simulations in MATLAB/Simulink and CarSim are conducted to verify the effectiveness of the proposed collision avoidance strategy in terms of tracking error, yaw rate, and roll angle.