Research on Safety of Vehicle Emergency Collision Avoidance Based on Optimal Control
Yingjie Liu, Youqun Zhao, Xiaofeng Zhou · 2013
A new research method for solving vehicle emergency collision avoidance problem was proposed. Based on optimal control theory, the longitudinal and lateral tire forces as well as the yaw momentum around the vertical direction were the control variables. And the minimum distance required to complete the emergency collision avoidance process was the control object. The Gauss Pseudospectral Method converted the optimal control problem into a nonlinear programming problem. And then the sequential quadratic programming (SQP) solved the problem verified by real vehicle test finally. The results show that the simulation value is in good agreement with the real vehicle test value in stop maneuver. The proposed method is not sensitive to the initial value. And also the optimization accuracy is higher compared with indirect methods and traditional direct methods. When solving the vehicle emergency collision avoidance problem with the method, boundary constrains and path constrains are well satisfied. And the method can simulate the emergency collision avoidance process of vehicles with minimum distance successfully.