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

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 condition...

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Bibliographic Details
Published inIEEE transactions on intelligent transportation systems Vol. 21; no. 6; pp. 2376 - 2385
Main Authors Cheng, Shuo, Li, Liang, Guo, Hong-Qiang, Chen, Zhen-Guo, Song, Peng
Format Journal Article
LanguageEnglish
Published New York IEEE 01.06.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Automotive wheels
Autonomous vehicles
Brakes
Collision avoidance
Collisions
Control stability
Controllers
Deceleration
Driving
Driving conditions
Friction
Lateral stability
Longitudinal collision avoidance
model predictive control
Predictive control
Roads
Stability criteria
Tire force
Traffic
Vehicle wheels
Yaw
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Summary: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.
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content type line 14
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2019.2918176