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所属单位：能源与动力学院

发表刊物：SCIENCE CHINA-TECHNOLOGICAL SCIENCES

关键字：autonomous vehicle collision avoidance system path planning mu synthesis robust control active front steering

摘要：Vehicle collision avoidance system is a kind of auxiliary driving system based on vehicle active safety, which can assist the driver to take the initiative to avoid obstacles under certain conditions, so as to effectively improve the driving safety of vehicle. This paper presents a collision avoidance system for an autonomous vehicle based on an active front steering, which mainly consists of a path planner and a robust tracking controller. A path planner is designed based on polynomial parameterization optimized by simulated annealing algorithm, which plans an evasive trajectory to bypass the obstacle and avoid crashes. The dynamic models of the AFS system, vehicle as well as the driver model are established, and based on these, a robust tracking controller is proposed, which controls the system to resist external disturbances and work in accordance with the planning trajectory. The proposed collision avoidance system is testified through CarSim and Simulink combined simulation platform. The simulation results show that it can effectively track the planning trajectory, and improve the steering stability and anti-interference performance of the vehicle.

ISSN号：1674-7321

是否译文：否

发表时间：2017-08-01

合写作者：Wnag, ChunYan,Xu, ZhiJiang,周光明

通讯作者：赵万忠