Research on the Path Tracking of Emergency Avoidance Based on the Change of Road Curvature

摘要

This paper presents a path tracking method based on road curvature variation for emergency collision avoidance. In order to control the actual vehicle driving along the ideal predefined path curvature, the second order active disturbance rejection (ADRC) path tracking controller is built based on the two degrees of freedom vehicle dynamic model. In addition, the feedforward controller is combined with the feedback controller to control the path curvature. Traditional evasive collision avoidance process suffers serious problems such as high lateral acceleration and discontinuous curvature, the cubic B spline is used to solve curvature discontinuity. In order to verify the performance of the proposed path tracking controller, this paper adopts co-simulation method using Carsim and Simulink. The simulation results show that the proposed controller exhibits higher effectiveness and better robustness compared with LQR method when suffer external disturbances under the operation conditions of opposite road.