A Multi-Vehicle Longitudinal Trajectory Collision Avoidance Strategy Using AEBS With Vehicle-Infrastructure Communication

Abstract

Shortening inter-vehicle distance can increase traffic throughput on roads for increasing volume of vehicles. In the process, traffic accidents occur more frequently, especially for multi-car accidents. Furthermore, it is difficult for drivers to drive safely under such complex driving conditions. This article investigates multi-vehicle longitudinal collision avoidance issue under such traffic conditions based on the Advanced Emergency Braking System (AEBS). AEBS is used to avoid collisions or mitigate the impact during critical situations by applying brake automatically. Hierarchical multi-vehicle longitudinal collision avoidance controller is proposed to guarantee safety of multi-cars using Vehicle-to-Infrastructure (V2I) communication capability in addition to radar for longitudinal vehicle control. High-level controller is designed to ensure safety of multi-cars and optimize total energy by calculating the target braking force. Vehicle network is used to get the key vehicle-road interaction data and constrained hybrid genetic algorithm (CHGA) is adopted to decouple the vehicle-road interactive system,which can obtain the maximum ground friction through vehicle-road data, and provide key predictive parameters for multi-vehicle safety controller. Lower level non-singular Fractional Terminal Sliding Mode(NFTSM) Controller is built to achieve control goals of high-level controller. Simulations are carried out under typical driving conditions. Results verify that the proposed system in this article can avoid or mitigate the collision risk compared to the vehicle without this system.