Local Path Planning and Tracking Control of Vehicle Collision Avoidance System  

作　　者：Xu Zhijiang Zhao Wanzhong Wang Chunyan Dai Yifan 

机构地区：[1]College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics [2]Suzhou Automotive Research Institute,Tsinghua University(Wujiang) [3]Key Laboratory of Advanced Manufacture Technology for Automobile Parts,Ministry of Education,Chongqing University of Technology

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2018年第4期729-738,共10页南京航空航天大学学报（英文版）

基　　金：supported by the National Key Research and Development Plan of China (No.2016YFB0101102 );the Suzhou Tsinghua Innovation Initiative(No. 2016SZ0207);the National Natural Science Foundation of China(No.51375007);the Research Project of Key Laboratory of Advanced Manufacture Technology for Automobile Parts(Chongqing University of Technology),Ministry of Education (No.2015KLMT04);the Fundamental Research Funds for the Central Universities (No. NE2016002)

摘　　要：Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors.Moreover,it can promote the development of autonomous driving for intelligent vehicle in intelligent transportation.We present a collision avoidance system,which is composed of an evasive trajectory planner and a path following controller.Considering the stability of the vehicle in the conflict-free process,the evasive trajectory planner is designed by polynomial parametric method and optimized by genetic algorithm.The path following controller is proposed to make the car drive along the designed path by controlling the vehicle's lateral movement.Simulation results show that the vehicle with the proposed controller has good stability in the collision process,and it can ensure the vehicle driving in accordance with the planned trajectory at different speeds.The research results can provide a certain basis for the research and development of automotive collision avoidance technology.Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver’s manipulation errors. Moreover, it can promote the development of autonomous driving for intelligent vehicle in intelligent transportation. We present a collision avoidance system, which is composed of an evasive trajectory planner and a path following controller. Considering the stability of the vehicle in the conflict-free process, the evasive trajectory planner is designed by polynomial parametric method and optimized by genetic algorithm. The path following controller is proposed to make the car drive along the designed path by controlling the vehicle’s lateral movement. Simulation results show that the vehicle with the proposed controller has good stability in the collision process, and it can ensure the vehicle driving in accordance with the planned trajectory at different speeds. The research results can provide a certain basis for the research and development of automotive collision avoidance technology.

关 键 词：VEHICLE collision avoidance dynamic model path planning tracking control 

分 类 号：U463.6[机械工程—车辆工程]