Unified decision making and control for highway collision avoidance using active front steer and individual wheel torque control

Yuan, United Kingdom and Sun, Xuewei and Gordon, Timothy (2018) Unified decision making and control for highway collision avoidance using active front steer and individual wheel torque control. Vehicle System Dynamics . ISSN 0042-3114

Full content URL: https://doi.org/10.1080/00423114.2018.1535125

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Unified decision making and control for highway collision avoidance using active front steer and individual wheel torque control
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Abstract

Collision avoidance is a crucial function for all ground vehicles, and using integrated chassis systems to support the driver presents a growing opportunity in active safety. With actuators such as in-wheel electric motors, active front steer and individual wheel brake control, there is an opportunity to develop integrated chassis systems that fully support the driver in safety critical situations. Here we consider the scenario of an impending frontal collision with a stationary or slower moving vehicle in the same driving lane. Traditionally, researchers have approached the required collision avoidance maneuver as a hierarchical scheme, which separates the decision making, path planning and path tracking. In this context a key decision is whether to perform straight-line braking, or steer to change lanes, or indeed perform combined braking and steering. This paper approaches the collision avoidance directly from the perspective of constrained dynamic optimization, using a single optimization procedure to cover these aspects within a single online optimization scheme of model predictive control (MPC). While the new approach is demonstrated in the context of a fully autonomous safety system, it is expected that the same approach can incorporate driver inputs as additional constraints, yielding a flexible and coherent driver assistance system.

Additional Information:The final published version of this article can be accessed online at https://www.tandf.co.uk/common/errors/404.htm
Keywords:collision avoidance, model predictive control, active front steering, torque vectoring
Subjects:H Engineering > H660 Control Systems
H Engineering > H300 Mechanical Engineering
Divisions:College of Science > School of Engineering
ID Code:33848
Deposited On:22 Oct 2018 11:46

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