Affiliation:
1. Chongqing University of Technology, China
Abstract
<div>An automatic collision avoidance control method integrating optimal four-wheel
steering (4WS) and direct yaw-moment control (DYC) for autonomous vehicles on
curved road is proposed in this study. Optimal four-wheel steering is used to
track a predetermined trajectory, and DYC is adopted for vehicle stability. Two
single lane change collision avoidance scenarios, i.e., a stationary obstacle in
front and a moving obstacle at a lower speed in the same lane, are constructed
to verify the proposed control method. The main contributions of this article
include (1) a quintic polynomial lane change trajectory for collision avoidance
on curved road is proposed and (2) four different kinds of control method for
autonomous collision avoidance, namely 2WS, 2WS+DYC, 4WS, and 4WS+DYC, are
compared. In the design of DYC controller, two different feedback control
methods are adopted for comparison, i.e., sideslip angle feedback and yaw rate
feedback. The simulation results demonstrate significant improvements in the
path tracking performance and stability of the 4WS+DYC control system compared
to other control systems. Furthermore, the performance of the DYC control system
with yaw rate feedback outperforms that of the DYC control system with sideslip
angle feedback.</div>
Subject
General Health Professions
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