Citation

Wang J, Huang G, Yuan X, Liu Z, Wu X. ISA Trans. 2023; ePub(ePub): ePub.

Copyright

(Copyright © 2023, Instrument Society of America, Publisher Elsevier Publishing)

DOI

10.1016/j.isatra.2023.08.030

PMID

37679272

Abstract

When the autonomous vehicle (AV) is under various road friction and speed, emergency collision avoidance is extremely difficult. In this situation, the AV may encounter severe understeering problem, so it is hard to achieve collision avoidance, even under the control of active safety system. To tackle this problem, an adaptive collision avoidance strategy (ACAS) is proposed for AV under various road friction and speed. The adaptive performance of the ACAS is realized via three aspects. (1) An adaptive reference path planning method is proposed to provide desired evasive speed and reference path for the AV according to various road friction and reduces the turning burden of AV. (2) A predictive-based fuzzy controller is designed to realize the speed control, and it improves the tracking accuracy of various desired evasive speed. (3) A novel turning enhanced method built with a direct yaw turning controller and a torque distribution method can enhance the turning capability of AV. Finally, the proposed strategy is verified on AV via simulation experiments. The code can be found online here: https://github.com/wangjinlei-hnu/ACAS.

Language: en

Keywords

Adaptive control; Autonomous vehicle; Direct yaw turning control; Emergency collision avoidance; Hybrid A*; Predictive-based fuzzy control