An adaptive collision avoidance strategy for autonomous vehicle under various road friction and speed

Jinlei Wang; Guoming Huang; Xiaofang Yuan; Zhixian Liu; Xiru Wu

doi:10.1016/j.isatra.2023.08.030

An adaptive collision avoidance strategy for autonomous vehicle under various road friction and speed

ISA Trans. 2023 Dec:143:131-143. doi: 10.1016/j.isatra.2023.08.030. Epub 2023 Aug 28.

Authors

Jinlei Wang¹, Guoming Huang², Xiaofang Yuan³, Zhixian Liu⁴, Xiru Wu⁵

Affiliations

¹ College of Electrical and Information Engineering, Hunan University, Changsha, 410082, China. Electronic address: wangjinlei@hnu.edu.cn.
² College of Electrical and Information Engineering, Hunan University, Changsha, 410082, China; School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin, 541004, China. Electronic address: huangguoming@hnu.edu.cn.
³ College of Electrical and Information Engineering, Hunan University, Changsha, 410082, China. Electronic address: yuanxiaofang@hnu.edu.cn.
⁴ College of Electrical and Information Engineering, Hunan University, Changsha, 410082, China. Electronic address: liuzhixian@hnu.edu.cn.
⁵ School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin, 541004, China. Electronic address: xiruwu@guet.edu.cn.

PMID: 37679272
DOI: 10.1016/j.isatra.2023.08.030

Abstract

When the autonomous vehicle (AV) is under various road friction and speed, emergency collision avoidance is extremely difficult. In this situation, the AV may encounter severe understeering problem, so it is hard to achieve collision avoidance, even under the control of active safety system. To tackle this problem, an adaptive collision avoidance strategy (ACAS) is proposed for AV under various road friction and speed. The adaptive performance of the ACAS is realized via three aspects. (1) An adaptive reference path planning method is proposed to provide desired evasive speed and reference path for the AV according to various road friction and reduces the turning burden of AV. (2) A predictive-based fuzzy controller is designed to realize the speed control, and it improves the tracking accuracy of various desired evasive speed. (3) A novel turning enhanced method built with a direct yaw turning controller and a torque distribution method can enhance the turning capability of AV. Finally, the proposed strategy is verified on AV via simulation experiments. The code can be found online here: https://github.com/wangjinlei-hnu/ACAS.

Keywords: Adaptive control; Autonomous vehicle; Direct yaw turning control; Emergency collision avoidance; Hybrid A*; Predictive-based fuzzy control.