Minimum Time Approach to Emergency Collision Avoidance by Vehicle Handling Inverse Dynamics

Abstract

Vehicle driving safety is the urgent key problem to be solved of automobile independent development while encountering emergency collision avoidance with high speed. And it is also the premise and one of the necessary conditions of vehicle active safety. A new technique of vehicle handling inverse dynamics which can evaluate the emergency collision avoidance performance is proposed. Based on optimal control theory, the steering angle input and the traction/brake force imposed by driver are the control variables; the minimum time required to complete the fitting biker line change is the control object. By using the improved direct multiple shooting method, the optimal control problem is converted into a nonlinear programming problem that is then solved by means of the sequential quadratic programming. The simulation results show that the proposed method can solve the vehicle minimum time maneuver problem, and can compare the maneuverability of two different vehicles that complete fitting biker line change with the minimum time and the correctness of the model is verified through real vehicle test.

Autonomous Anticollision Decision and Control Method of UAV Based on the Optimization Theory

“…In solving the multi constraint anticollision problem, the model predictive control method has a good e ect [13]. References [14,15] established an anticollision control algorithm under nonlinear constraints in two-dimensional environment by comprehensively using geometric method and model predictive control method and based on the tangent principle. Literature [16] proposed a multi UAV cooperative anticollision method under nonlinear dynamic constraints by using distributed model predictive control, but the premise of this method is that all obstacles are cooperative and their states are accurately known.…”

Optimal lateral control for autonomous vehicle based on multi-stage handling inverse dynamics

“…This work offers a new approach for the study of handling dynamics. In Wang et al 24 and Zhang et al, 25 the performance of the vehicle in minimum time handling was studied. These references demonstrate that inverse dynamics method can provide a novel idea for the evaluation of different vehicles’ handling performance.…”