An Emergency Obstacle Avoidance Control Strategy for Automated Highway Vehicles

Ryu, Jeha; Kim, Ho-Soo; Kim, Jong-Hyup

doi:10.1076/vesd.38.5.319.8279

Cited by 6 publications

(4 citation statements)

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“…High-speed emergency obstacle avoidance for autonomous vehicles involves two main aspects: how to achieve effective obstacle avoidance and how to improve handling stability and prevent secondary accidents. 2,3 As early as 1989, Nelson 4 proposed a quintic polynomial to describe an ideal obstacle avoidance trajectory that provided continuous curvature. Subsequently, many researchers used the trajectory to study emergency obstacle avoidance.…”

Section: Introductionmentioning

confidence: 99%

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Emergency obstacle avoidance trajectory tracking control based on active disturbance rejection for autonomous vehicles

Liu

Wei

Sang

2020

International Journal of Advanced Robotic Systems

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To solve the problem of understeer and oversteer for autonomous vehicle under high-speed emergency obstacle avoidance conditions, considering the effect of steering angular frequency and vehicle speed on yaw rate for four-wheel steering vehicles in the frequency domain, a feed-forward controller for four-wheel steering autonomous vehicles that tracks the desired yaw rate is proposed. Furthermore, the steering sensitivity coefficient of the vehicle is compensated linearly with the change in the steering angular frequency and vehicle speed. In addition, to minimize the tracking errors caused by vehicle nonlinearity and external disturbances, an active disturbance rejection control feedback controller that tracks the desired lateral displacement and desired yaw angle is designed. Finally, CarSim® obstacle avoidance simulation results show that an autonomous vehicle with the four-wheel steering path tracking controller consisting of feed-forward control and feedback control could not only improve the tire lateral forces but also reduce tail flicking (oversteer) and pushing ahead (understeer) under high-speed emergency obstacle avoidance conditions.

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Section: Introductionmentioning

confidence: 99%

“…1 Steering obstacle avoidance is similar to the “elk test.” High-speed emergency obstacle avoidance for autonomous vehicles involves two main aspects: how to achieve effective obstacle avoidance and how to improve handling stability and prevent secondary accidents. 2,3…”

Section: Introductionmentioning

confidence: 99%

Emergency obstacle avoidance trajectory tracking control based on active disturbance rejection for autonomous vehicles

Liu

Wei

Sang

2020

International Journal of Advanced Robotic Systems

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“…Many control strategies of an autonomous steering system have been developed over a long time such as MacAdam's model in [16], Sharp's model in [17], Salvucci's model in [18], Gordon's model in [19], and Ryu's model in [20]. Most of the control strategies use front wheels as instruments to follow the desired trajectory by comparing the yaw, yaw rate, lateral position and head angle of the vehicle [16][17][18][19][20][21]. By the way, μ max is an important factor in the design of these trajectories.…”

Section: Introductionmentioning

confidence: 99%

Collision Avoidance via Adaptive Trajectory Control in Case of a Sudden Decrease in the Maximum Road Friction Coefficient

Şahin

2017

PROMET

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“…In order to solve this problem, [I] studied lane-change track control by generating a virtual yaw reference and utilizing a robust switching controller to generate steering commands that cause vehicle to track that reference. An emergency obstacle avoidance control strategy was proposed in [2]. The overall vehicle lateral and yaw motion were controlled in the feedback path by an active yaw moment for stability augmentation.…”

Section: Introductionmentioning

confidence: 99%

Study on virtual path track control for intelligent vehicle

Ruan

Ding

Proceedings. The 7th International IEEE Conference on Intelligent Transportation Systems (IEEE Cat. No.04TH8749)

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Intelligent vehicle usually needs track some virtual path in short time when it changes lane or avoids obstacle. During this time there may be no lateral error information and that makes lateral error-based controller afunctional. In order to solve this problem, one angular rate gyro-hased virtual path track control method is proposed. Angular rate gyro measures vehicle's yaw rate. Yaw angle is the first integral of the yaw rate. Yaw rate and yaw angle are the controller's inputs. Fuzzy logic and look-ahead control are used as control strategy. In the design process, the controller's parameters are searched and optimized by Genetic Algorithm, and key vehicle motion parameters select technology and noise-add technology are used to improve . the controller's robustness. The simulation results show that the controller can satisfy the accurate performance in the short period of virtual path track.

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An Emergency Obstacle Avoidance Control Strategy for Automated Highway Vehicles

Cited by 6 publications

References 0 publications

Emergency obstacle avoidance trajectory tracking control based on active disturbance rejection for autonomous vehicles

Emergency obstacle avoidance trajectory tracking control based on active disturbance rejection for autonomous vehicles

Collision Avoidance via Adaptive Trajectory Control in Case of a Sudden Decrease in the Maximum Road Friction Coefficient

Study on virtual path track control for intelligent vehicle

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