A Lateral Active Collision Avoidance System Based on Fuzzy-PID and Sliding Mode Control for Electric Vehicles

摘要

A lateral active collision avoidance system based on fuzzy and slide mode control is presented for electric vehicles in this paper. It can be consisted of the safety distance model, the upper level controller, and the lower level controller. The safety distance model can judge and give current vehicle's steering collision avoidance safety logic. When an emergency danger occurs, the steering collision avoidance can be considered first, rather than braking collision avoidance. The upper level controller can be designed based on fuzzy control. It can calculate the desired trajectory. The lower level controller can be signed based on slide mode control to realize the direct yaw moment control. Simulation experiments can be conducted with different preview times and different control methods. Simulation results demonstrate that the lateral active collision avoidance system based on fuzzy and slide control is in good agreement with the actual driving process for electric vehicles.