Path planning and stability control of collision avoidance system based on active front steering

• Published in: Science China. Technological sciences Vol. 60; no. 8; pp. 1231 - 1243
• Main Authors: Wnag, ChunYan, Zhao, WanZhong, Xu, ZhiJiang, Zhou, Guan
• Format: Journal Article
• Language: English
• Published: Beijing Science China Press 01.08.2017; Springer Nature B.V
• Subjects: Active control; Barriers; Collision avoidance; Collision dynamics; Collisions; Computer simulation; Control stability; Crashes; Dynamic models; Engineering; Parameterization; Planning; Robust control; Simulated annealing; Simulink; Steering; Tracking; Traffic accidents & safety; Trajectories; Trajectory planning; Vehicle safety; 主动前轮转向; 模拟退火算法; 稳定性控制; 自主车辆; 路径规划; 辅助驾驶系统; 鲁棒跟踪控制器; synthesis robust control; autonomous vehicle; active front steering; collision avoidance system; path planning
• ISSN: 1674-7321; 1869-1900
• DOI: 10.1007/s11431-016-9016-1

Vehicle collision avoidance system is a kind of auxiliary driving system based on vehicle active safety, which can assist the driver to take the initiative to avoid obstacles under certain conditions, so as to effectively improve the driving safety of vehicle. This paper presents a collision avoidance system for an autonomous vehicle based on an active front steering, which mainly consists of a path planner and a robust tracking controller. A path planner is designed based on polynomial parameterization optimized by simulated annealing algorithm, which plans an evasive trajectory to bypass the obstacle and avoid crashes. The dynamic models of the AFS system, vehicle as well as the driver model are established, and based on these, a robust tracking controller is proposed, which controls the system to resist external disturbances and work in accordance with the planning trajectory. The proposed collision avoidance system is testified through CarSim and Simulink combined simulation platform. The simulation results show that it can effectively track the planning trajectory, and improve the steering stability and anti-interference performance of the vehicle.