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International Journal of Automotive Technology > Volume 23(1); 2022 > Article
International Journal of Automotive Technology 2022;23(1): 41-53.
doi: https://doi.org/10.1007/s12239-022-0004-3
Shaosong Li1,2, Yunsheng Tian1, Xiaofeng Yue1, Niaona Zhang3, Luping Guo1, Shujun Wang1
1Changchun University of Technology
2Changchun University of Technology
3Changchun University of Technology
PDF Links Corresponding Author.  Xiaofeng Yue , Email. yuexiaofeng@ccut.edu.cn
A hierarchical vehicle collision avoidance control method based on model predictive control is presented in this study. In the upper level of the controller, a spatial-based two-degree-of-freedom vehicle model is used for dynamic path planning to decrease the computational burden of the algorithm. Obstacles and road boundaries are translated into spatialbased constraints on system states. An objective function that considers tire adhesion margin is introduced to the path tracking controller to enhance vehicle safety. Meanwhile, the dynamic constraints of vehicle lateral acceleration, sideslip, and tire slip angles are designed in accordance with the tire-road adhesion coefficient. A time-based nonlinear model predictive controller is also designed and compared with the proposed method to verify the effectiveness and superiority of the latter. Theoretical analyses and simulation results indicate that the proposed collision avoidance ontrol system has good collision avoidance effect.
Key Words: Model predictive control, Path planning, Path tracking, Vehicle collision avoidance
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