Collision Avoidance by Lane Changing Based on Linear Path-following Control

被引：0

作者：

Liu Z.-Q. ^{[1
]}

Wang Y.-F. ^{[1
]}

Wu X.-G. ^{[1
]}

Zhang C.-L. ^{[1
]}

Ni J. ^{[1
]}

机构：

[1] School of Automotive and Transportation Engineering, Jiangsu University, Zhenjiang, 212013, Jiangsu

来源：

Zhongguo Gonglu Xuebao/China Journal of Highway and Transport | 2019年 / 32卷 / 06期

关键词：

Automotive engineering; Collision avoidance by lane changing; Lateral acceleration; Linear path-following control; Rear-end collision avoidance; Required lateral displacement; Threat assessment;

D O I：

10.19721/j.cnki.1001-7372.2019.06.009

中图分类号：

学科分类号：

摘要：

To avoid the collision of autonomous vehicles and improve the road traffic safety, a rear-end collision avoidance strategy by lane changing based on linear path-following control is proposed. In this system, the speed, acceleration, relative distance between the subject and lead vehicles under car-following condition, and the driver's reaction time were obtained to calculate the safe braking and safe lane-changing distances, to determine the time required for the respective actions. On this basis, the braking hazard coefficient B and the lane-change risk coefficient S were introduced to evaluate the risk in braking and lane changing, respectively. This makes the risk degree of rear-end collision and the threshold of active intervention more intuitive. According to the variation in the expected lateral acceleration and lateral displacement of the vehicle, the 5 times polynomial method was used to plan the collision avoidance path, adaptive to the driver's lane-changing behavior. To ensure the safety and comfort of the driver during the lane-changing collision avoidance process, the maximum lateral acceleration of the trajectory was constrained. Linear tracking control was adopted to avoid collision and ensure the stability of the vehicle. To achieve this, the feed-forward control strategy was established based on the steady-state dynamic model of the vehicle, and the position and yaw angle deviations of the lane-changing path were eliminated by combining the linear feedback and feed-forward controls. Correct the reference path to realize the collision avoidance control of the straight lane scene. The experiments by simulation and real vehicle cross-validation demonstrate that the fifth-order polynomial lane-changing path based on the driver's desired lateral acceleration and the expected lateral displacement is in good agreement with the driver's actual collision avoidance path. The braking and collision avoidance strategy based on reaction time and workshop time interval can effectively avoid vehicle rear-end collisions and reduce the occurrence of traffic accidents, while ensuring the safety and comfort of the passengers. © 2019, Editorial Department of China Journal of Highway and Transport. All right reserved.

引用

页码：86 / 95

页数：9

共 30 条

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