Research on a Collision Avoidance Control Algorithm for Intelligent Vehicle Driving Process
For intelligent vehicle driving system,an integrated path tracking,collision avoidance and collision mitigation con-trol algorithm is proposed.The algorithm considers the joint slip force of tires,and realizes the control of active front steering and braking adjustment by monitoring the slip of each tire,so as to improve the stability and tracking accuracy of vehicles in extreme conditions.A new switching mechanism independent of a single path generation module is designed for collision avoidance and mitigation,and verified under various harsh driving conditions.Simulation results show that the algorithm can not only track the desired path in the normal driving stage,but also avoid collision and reduce the severity of collision on the premise of ensuring ve-hicle stability.
Vehicle Collision AvoidancePath TrackingTracking AccuracySlip Force
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