Emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking
Abstract This paper develops a novel integrated collision avoidance strategy for autonomous vehicles in an emergency based on steering and braking. Specifically, the framework of the collision avoidance strategy is composed of two parts: an up-level decision-making layer and a low-level controller l...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2022-12-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-022-27296-3 |
| _version_ | 1797973657142689792 |
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| author | Haiqing Li Taixiong Zheng Fuhao Xia Lina Gao Qing Ye Zonghuan Guo |
| author_facet | Haiqing Li Taixiong Zheng Fuhao Xia Lina Gao Qing Ye Zonghuan Guo |
| author_sort | Haiqing Li |
| collection | DOAJ |
| description | Abstract This paper develops a novel integrated collision avoidance strategy for autonomous vehicles in an emergency based on steering and braking. Specifically, the framework of the collision avoidance strategy is composed of two parts: an up-level decision-making layer and a low-level controller layer. The purpose of the up-level is to select the appropriate control strategy based on the vehicle information, and the low-level is to drive the vehicle according to the instructions generated by the up-level. More concretely, a novel control strategy is proposed by integrating four-wheel steering, active rear steering, and differential braking with guaranteed path-tracking accuracy and driving stability by adaptive model predictive control (AMPC). Finally, extensive co-simulations in MATLAB/Simulink and CarSim are conducted to verify the effectiveness of the proposed collision avoidance strategy in terms of tracking error, yaw rate, and roll angle. |
| first_indexed | 2024-04-11T04:07:45Z |
| format | Article |
| id | doaj.art-c46b2b45be7041a2845005a394eb7d00 |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-04-11T04:07:45Z |
| publishDate | 2022-12-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-c46b2b45be7041a2845005a394eb7d002023-01-01T12:19:16ZengNature PortfolioScientific Reports2045-23222022-12-0112111810.1038/s41598-022-27296-3Emergency collision avoidance strategy for autonomous vehicles based on steering and differential brakingHaiqing Li0Taixiong Zheng1Fuhao Xia2Lina Gao3Qing Ye4Zonghuan Guo5School of Advanced Manufacturing Engineering, Chongqing University of Posts and TelecommunicationsSchool of Advanced Manufacturing Engineering, Chongqing University of Posts and TelecommunicationsSchool of Advanced Manufacturing Engineering, Chongqing University of Posts and TelecommunicationsChongqing Technology and Business InstituteChina Merchants Chongqing Communications Technology Research & Design Institute Co.,LtdCollege of Automation, Chongqing UniversityAbstract This paper develops a novel integrated collision avoidance strategy for autonomous vehicles in an emergency based on steering and braking. Specifically, the framework of the collision avoidance strategy is composed of two parts: an up-level decision-making layer and a low-level controller layer. The purpose of the up-level is to select the appropriate control strategy based on the vehicle information, and the low-level is to drive the vehicle according to the instructions generated by the up-level. More concretely, a novel control strategy is proposed by integrating four-wheel steering, active rear steering, and differential braking with guaranteed path-tracking accuracy and driving stability by adaptive model predictive control (AMPC). Finally, extensive co-simulations in MATLAB/Simulink and CarSim are conducted to verify the effectiveness of the proposed collision avoidance strategy in terms of tracking error, yaw rate, and roll angle.https://doi.org/10.1038/s41598-022-27296-3 |
| spellingShingle | Haiqing Li Taixiong Zheng Fuhao Xia Lina Gao Qing Ye Zonghuan Guo Emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking Scientific Reports |
| title | Emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking |
| title_full | Emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking |
| title_fullStr | Emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking |
| title_full_unstemmed | Emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking |
| title_short | Emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking |
| title_sort | emergency collision avoidance strategy for autonomous vehicles based on steering and differential braking |
| url | https://doi.org/10.1038/s41598-022-27296-3 |
| work_keys_str_mv | AT haiqingli emergencycollisionavoidancestrategyforautonomousvehiclesbasedonsteeringanddifferentialbraking AT taixiongzheng emergencycollisionavoidancestrategyforautonomousvehiclesbasedonsteeringanddifferentialbraking AT fuhaoxia emergencycollisionavoidancestrategyforautonomousvehiclesbasedonsteeringanddifferentialbraking AT linagao emergencycollisionavoidancestrategyforautonomousvehiclesbasedonsteeringanddifferentialbraking AT qingye emergencycollisionavoidancestrategyforautonomousvehiclesbasedonsteeringanddifferentialbraking AT zonghuanguo emergencycollisionavoidancestrategyforautonomousvehiclesbasedonsteeringanddifferentialbraking |