Enhancing Autonomous Vehicle Stability through Pre-Emptive Braking Control for Emergency Collision Avoidance
Source abstract
Abstract
A pre-emptive braking control method is proposed to improve the stability of autonomous vehicles during emergency collision avoidance, aiming to imitate the realistic human driving experience. A linear model predictive control is used to derive the front wheel steering angle to track a predefined fifth-degree polynomial trajectory. Based on a two-degrees-of-freedom (DOF) vehicle dynamics model, the maximum stable vehicle speed during collision avoidance can be determined. If the actual vehicle speed exceeds the maximum stable vehicle speed, braking action will be applied to the vehicle. Furthermore, four-wheel steering (4WS) control and direct yaw moment control (DYC) are employed to further improve the stability of the vehicle during collision avoidance. Simulation results under a double lane change scenario demonstrate that the control system incorporating pre-emptive braking, 4WS, and DYC can enhance the vehicle stability effectively during collision avoidance. Compared to the 2WS system without pre-emptive braking control, the maximum stable vehicle speed of the integrated control system can be increased by at least 56.9%. The proposed integrated control strategy has a positive impact on the safety of autonomous vehicles, and it can also provide reference for the research and development of autonomous driving systems.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Vehicle Dynamics and Control Systems · Autonomous Vehicle Technology and Safety · Traffic control and management
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Vehicle Engineering, Chongqing University of Technology, Chongqing 400054, China
Key Laboratory of Advanced Manufacturing Technology for Automobile Parts, Ministry of Education, Chongqing 400054, China
Funding
Chongqing Education Commission of China
References (44)
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