Research on lane-change collision avoidance based on MPC time domain parameter selection
In order to improve the active safety of automobiles,a trajectory tracking controller based on Model Predictive Control(MPC)was designed to address emergency situations such as sudden stop of the preceding vehicle or sudden appearance of vehicles at blind corners of the road for lane changing and collision avoidance.Through studying the influence of controller parameters(predictive time domain Np and control time domain Nc)on the steering collision avoidance effect,a comprehensive evaluation index of path tracking performance was established to determine the optimal predictive time domain and control time domain values.Finally,the co-simulation was implemented in CarSim/Simulink to ensure the driving safety.
active collision avoidancetrajectory trackingcontroller parameter selectionmodel predictive control
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