An Emergency Obstacle Avoidance Control Strategy for Automated Highway Vehicles

摘要

This paper presents an emergency obstacle avoidance control strategy that may be used in automated highway vehicles. In the proposed control strategy, an inverse vehicle dynamics problem is solved on the selected emergency lane-change path to find out the nominal feedforward control inputs such as the steering wheel angle and the braking force. Then the overall vehicle lateral and yaw motion is controlled additionally in the feedback path by an active yaw moment for stability augmentation as well as a corrective steering angle that is added to the nominal steering angle in order to compensate for uncertainties involved in the nominal control input computation. The proposed control strategy has been tested by an ABS Hardware-In-the-Loop Simulation (HILS) system for rapid and safe control prototyping in a lab. Simulation results with a sample emergency avoidance distance (45 m) show that the proposed control strategy may be used as a feasible obstacle avoidance strategy for automated highway vehicles.