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Local Path Planning and Tracking Control of Vehicle Collision Avoidance System

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  • 国家科技期刊平台
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  • NSTL
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Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors.Moreover,it can promote the development of autonomous driving for intelligent vehicle in intelligent transportation.We present a collision avoidance system,which is composed of an evasive trajectory planner and a path following controller.Considering the stability of the vehicle in the conflict-free process,the evasive trajectory planner is designed by polynomial parametric method and optimized by genetic algorithm.The path following controller is proposed to make the car drive along the designed path by controlling the vehicle's lateral movement.Simulation results show that the vehicle with the proposed controller has good stability in the collision process,and it can ensure the vehicle driving in accordance with the planned trajectory at different speeds.The research results can provide a certain basis for the research and development of automotive collision avoidance technology.

vehiclecollision avoidancedynamic modelpath planningtracking control

Xu Zhijiang、Zhao Wanzhong、Wang Chunyan、Dai Yifan

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College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016,P.R.China

Suzhou Automotive Research Institute, Tsinghua University(Wujiang), Suzhou 215200, P.R.China

Key Laboratory of Advanced Manufacture Technology for Automobile Parts, Ministry of Education, Chongqing University of Technology, Chongqing 400054, P.R.China

This work was supported by the National Key Research and Development Plan of ChinaSuzhou Tsinghua Innovation InitiativeNational Natural Science Foundation of ChinaResearch Project of Key Laboratory of Advanced Manufacture Technology for Automobile Parts (Chongqing University of TechnoloFundamental Research Funds for the Central Universities

2016YFB-01011022016SZ0207513750072015KLMT04NE2016002

2018

南京航空航天大学学报(英文版)
南京航空航天大学

南京航空航天大学学报(英文版)

CSTPCDCSCDEI
影响因子：0.279
ISSN：1005-1120
年,卷(期)：2018.35(4)
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