Collision Avoidance Control by steering based on Moving Horizon Estimation Control

Abstract

This study proposes an integrated vehicle emergency collision avoidance control based on nonlinear moving horizon estimation (MHE) combined with real-time vehicle state and road friction coefficient. The MHE method is employed to estimate the real-time road adhesion coefficient and vehicle lateral velocity, and the real-time road parameters and process state of the vehicle are applied to the collision avoidance system. Furthermore, the stability and safety of the vehicle is greatly improved. A nonlinear vehicle model is established based on the dynamic change of the road friction coefficient and highly nonlinear characteristics of the vehicle. Experiments were conducted under varying road adhesion conditions to verify the effectiveness of the proposed integrated collision avoidance control based on MHE. Results indicate that the integrated collision avoidance control can accurately estimate different road-adhesion coefficients and improve the vehicle stability in the collision avoidance process.