Development of Collision Avoidance System in Slippery Road Conditions

被引：8

作者：

Lee, Hwangjae ^{[1
]}

Choi, Seibum ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Daejeon 34141, South Korea

来源：

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2022年 / 23卷 / 10期

基金：

新加坡国家研究基金会;

关键词：

Roads; Tires; Splines (mathematics); Friction; Force; Collision avoidance; Vehicle dynamics; Path planning; fifth-order spline; model predictive control (MPC); curvature optimization; yaw rate constraint; low-mu surface; MODEL-PREDICTIVE CONTROL; AUTONOMOUS VEHICLES; STABILITY CONTROL; CONTROL STRATEGY; PATH TRACKING; NAVIGATION;

D O I：

10.1109/TITS.2022.3168668

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

This paper presents an autonomous vehicle's path planning and tracking system optimized for collision avoidance on slippery roads. During path planning, a path that can induce the maximum possible lateral acceleration is generated through the fifth-order spline in consideration of the tire-road friction. The generated path is tracked based on the model predictive control (MPC), and the nonlinearity generated by the tire and low friction surface is reflected through the extended bicycle model and the combined brushed tire model. Inside the controller, a new type of yaw rate constraint considering side-slip angles is utilized to prevent the vehicle from becoming unstable on slippery roads and maximize lateral maneuver of the vehicle at the same time. The proposed system is verified by the vehicle dynamics software CarSim, and the simulation results show that it significantly increases the possibility of collision avoidance in slippery road conditions.

引用

页码：19544 / 19556

页数：13

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