期刊
IEEE ACCESS
卷 9, 期 -, 页码 39292-39302出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3063795
关键词
Roads; Electron tubes; Trajectory; Safety; Tires; Wheels; Predictive models; Advanced driver assistance systems; intelligent vehicles; autonomous vehicles; collision avoidance; nonlinear control systems
资金
- Toyota Research Institute (TRI)
This article presents a new formulation of collision imminent steering to extend the capability to curved roads, allowing for aggressive lane change maneuvers at high speeds through a drivable tube concept. Numerical simulation results showcase inside and outside lane changes, as well as single and double lane maneuvers on curved roads in a shorter distance than braking alone.
Collision imminent steering is an automotive active safety feature designed to perform an evasive lane change maneuver when a forward collision cannot be avoided by braking alone. Previous work developed a nonlinear one-level model predictive controller to perform such a maneuver in a straight highway environment and at high speeds. In this article, a new formulation is presented that extends this capability to curved roads. The formulation includes a drivable tube concept, within which the maneuver is allowed to push the vehicle to its limits of handling, but only if the controller deems it necessary. Numerical simulation results showcase aggressive lane change maneuvers on curved roads at high speeds, allowing for both inside and outside lane changes, as well as single and double lane change maneuvers in a shorter distance than braking.
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