New Control Scheme for a Lane-Keeping Evasive Maneuver Exploiting the Free Space Optimally

摘要

One focus of current vehicle research is on the development of evasive pedestrian protection systems. Such safety systems avoid an imminent collision with a pedestrian by performing an evasive maneuver autonomously within the lane. For this purpose, a new lateral control scheme is proposed in this paper. The main idea is to ensure a lane-keeping evasive maneuver exploiting the free space optimally within the lane by controlling the vehicle's front left corner on an evasive trajectory ending up on the center line. Hence, a nonlinear model beyond the state of the art describing the dynamics of a lateral displaced point at the vehicle front as well as its lateral deviation to a defined trajectory is developed. Based on this model, the method of input-output linearization is used to design a lateral control system to ensure a precise track guidance. Furthermore, experimental results are presented.