Combined Steering and Braking Collision Avoidance Control Method Based on Model Predictive Control

被引：0
|
作者：
Li, Shaosong [1 ]
Li, Detao [1 ]
Wang, Han [1 ,2 ]
Jiang, Yanbo [1 ]
Cui, Gaojian [1 ]
机构：
[1] Changchun Univ Technol, Sch Mechatron Engn, Changchun 130012, Peoples R China
[2] Baicheng Vocat & Tech Coll, Dept Automot Engn, Baicheng 137000, Jilin, Peoples R China
来源：
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY | 2024年 / 25卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Combined steering and braking; Collision avoidance control; Model predictive control; Path tracking; Vehicle safety; OBSTACLE AVOIDANCE; VEHICLES; SPEED;
D O I：
10.1007/s12239-024-00044-4
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A combined steering and braking collision avoidance control method based on model predictive control is proposed in the present paper. This method can overcome the limitations of single steering or braking collision avoidance and improve vehicle safety and tracking performance in extremely complex conditions. The utilization rate of tire force, path tracking performance, and driving stability are considered in the design of the model predictive control (MPC) optimization objective. In addition, the front wheel angle and four-wheel braking torque are taken as the optimization variables. Simulation results showed that the proposed method can greatly improve the path tracking performance and driving stability of vehicles.
引用
收藏
页码：553 / 563
页数：11
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